A S / mbed-rtos

mbed rtos - modified for the final project of the course "Advanced Operating Systems"

Dependents:   aos_mbed

Fork of mbed-rtos by mbed official

rtx/rt_CMSIS.c@6:350b53afb889, 2012-11-23 (annotated)

Committer:
emilmont
Date:
Fri Nov 23 09:57:31 2012 +0000
Revision:
6:350b53afb889
Child:
10:fcb1f103f7a1
Merge RTOS C++ API and RTX under the same library; Update RTX to version 4.60; Add proper Thread destructor;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emilmont 6:350b53afb889 1 /*----------------------------------------------------------------------------
emilmont 6:350b53afb889 2 * RL-ARM - RTX
emilmont 6:350b53afb889 3 *----------------------------------------------------------------------------
emilmont 6:350b53afb889 4 * Name: rt_CMSIS.c
emilmont 6:350b53afb889 5 * Purpose: CMSIS RTOS API
emilmont 6:350b53afb889 6 * Rev.: V4.60
emilmont 6:350b53afb889 7 *----------------------------------------------------------------------------
emilmont 6:350b53afb889 8 *
emilmont 6:350b53afb889 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
emilmont 6:350b53afb889 10 * All rights reserved.
emilmont 6:350b53afb889 11 * Redistribution and use in source and binary forms, with or without
emilmont 6:350b53afb889 12 * modification, are permitted provided that the following conditions are met:
emilmont 6:350b53afb889 13 * - Redistributions of source code must retain the above copyright
emilmont 6:350b53afb889 14 * notice, this list of conditions and the following disclaimer.
emilmont 6:350b53afb889 15 * - Redistributions in binary form must reproduce the above copyright
emilmont 6:350b53afb889 16 * notice, this list of conditions and the following disclaimer in the
emilmont 6:350b53afb889 17 * documentation and/or other materials provided with the distribution.
emilmont 6:350b53afb889 18 * - Neither the name of ARM nor the names of its contributors may be used
emilmont 6:350b53afb889 19 * to endorse or promote products derived from this software without
emilmont 6:350b53afb889 20 * specific prior written permission.
emilmont 6:350b53afb889 21 *
emilmont 6:350b53afb889 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
emilmont 6:350b53afb889 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
emilmont 6:350b53afb889 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
emilmont 6:350b53afb889 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
emilmont 6:350b53afb889 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
emilmont 6:350b53afb889 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
emilmont 6:350b53afb889 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
emilmont 6:350b53afb889 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
emilmont 6:350b53afb889 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
emilmont 6:350b53afb889 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
emilmont 6:350b53afb889 32 * POSSIBILITY OF SUCH DAMAGE.
emilmont 6:350b53afb889 33 *---------------------------------------------------------------------------*/
emilmont 6:350b53afb889 34
emilmont 6:350b53afb889 35 #define __CMSIS_GENERIC
emilmont 6:350b53afb889 36
emilmont 6:350b53afb889 37 #if defined (__CORTEX_M4) || defined (__CORTEX_M4F)
emilmont 6:350b53afb889 38 #include "core_cm4.h"
emilmont 6:350b53afb889 39 #elif defined (__CORTEX_M3)
emilmont 6:350b53afb889 40 #include "core_cm3.h"
emilmont 6:350b53afb889 41 #elif defined (__CORTEX_M0)
emilmont 6:350b53afb889 42 #include "core_cm0.h"
emilmont 6:350b53afb889 43 #else
emilmont 6:350b53afb889 44 #error "Missing __CORTEX_Mx definition"
emilmont 6:350b53afb889 45 #endif
emilmont 6:350b53afb889 46
emilmont 6:350b53afb889 47 #include "rt_TypeDef.h"
emilmont 6:350b53afb889 48 #include "RTX_Config.h"
emilmont 6:350b53afb889 49 #include "rt_System.h"
emilmont 6:350b53afb889 50 #include "rt_Task.h"
emilmont 6:350b53afb889 51 #include "rt_Event.h"
emilmont 6:350b53afb889 52 #include "rt_List.h"
emilmont 6:350b53afb889 53 #include "rt_Time.h"
emilmont 6:350b53afb889 54 #include "rt_Mutex.h"
emilmont 6:350b53afb889 55 #include "rt_Semaphore.h"
emilmont 6:350b53afb889 56 #include "rt_Mailbox.h"
emilmont 6:350b53afb889 57 #include "rt_MemBox.h"
emilmont 6:350b53afb889 58 #include "rt_HAL_CM.h"
emilmont 6:350b53afb889 59
emilmont 6:350b53afb889 60 #define os_thread_cb OS_TCB
emilmont 6:350b53afb889 61
emilmont 6:350b53afb889 62 #include "cmsis_os.h"
emilmont 6:350b53afb889 63
emilmont 6:350b53afb889 64 #if (osFeature_Signals != 16)
emilmont 6:350b53afb889 65 #error Invalid "osFeature_Signals" value!
emilmont 6:350b53afb889 66 #endif
emilmont 6:350b53afb889 67 #if (osFeature_Semaphore > 65535)
emilmont 6:350b53afb889 68 #error Invalid "osFeature_Semaphore" value!
emilmont 6:350b53afb889 69 #endif
emilmont 6:350b53afb889 70 #if (osFeature_Wait != 0)
emilmont 6:350b53afb889 71 #error osWait not supported!
emilmont 6:350b53afb889 72 #endif
emilmont 6:350b53afb889 73
emilmont 6:350b53afb889 74
emilmont 6:350b53afb889 75 // ==== Enumeration, structures, defines ====
emilmont 6:350b53afb889 76
emilmont 6:350b53afb889 77 // Service Calls defines
emilmont 6:350b53afb889 78
emilmont 6:350b53afb889 79 #if defined (__CC_ARM) /* ARM Compiler */
emilmont 6:350b53afb889 80
emilmont 6:350b53afb889 81 #define __NO_RETURN __declspec(noreturn)
emilmont 6:350b53afb889 82
emilmont 6:350b53afb889 83 #define osEvent_type osEvent
emilmont 6:350b53afb889 84 #define osEvent_ret_status ret
emilmont 6:350b53afb889 85 #define osEvent_ret_value ret
emilmont 6:350b53afb889 86 #define osEvent_ret_msg ret
emilmont 6:350b53afb889 87 #define osEvent_ret_mail ret
emilmont 6:350b53afb889 88
emilmont 6:350b53afb889 89 #define osCallback_type osCallback
emilmont 6:350b53afb889 90 #define osCallback_ret ret
emilmont 6:350b53afb889 91
emilmont 6:350b53afb889 92 #define SVC_0_1(f,t,...) \
emilmont 6:350b53afb889 93 __svc_indirect(0) t _##f (t(*)()); \
emilmont 6:350b53afb889 94 t f (void); \
emilmont 6:350b53afb889 95 __attribute__((always_inline)) \
emilmont 6:350b53afb889 96 static __inline t __##f (void) { \
emilmont 6:350b53afb889 97 return _##f(f); \
emilmont 6:350b53afb889 98 }
emilmont 6:350b53afb889 99
emilmont 6:350b53afb889 100 #define SVC_1_1(f,t,t1,...) \
emilmont 6:350b53afb889 101 __svc_indirect(0) t _##f (t(*)(t1),t1); \
emilmont 6:350b53afb889 102 t f (t1 a1); \
emilmont 6:350b53afb889 103 __attribute__((always_inline)) \
emilmont 6:350b53afb889 104 static __inline t __##f (t1 a1) { \
emilmont 6:350b53afb889 105 return _##f(f,a1); \
emilmont 6:350b53afb889 106 }
emilmont 6:350b53afb889 107
emilmont 6:350b53afb889 108 #define SVC_2_1(f,t,t1,t2,...) \
emilmont 6:350b53afb889 109 __svc_indirect(0) t _##f (t(*)(t1,t2),t1,t2); \
emilmont 6:350b53afb889 110 t f (t1 a1, t2 a2); \
emilmont 6:350b53afb889 111 __attribute__((always_inline)) \
emilmont 6:350b53afb889 112 static __inline t __##f (t1 a1, t2 a2) { \
emilmont 6:350b53afb889 113 return _##f(f,a1,a2); \
emilmont 6:350b53afb889 114 }
emilmont 6:350b53afb889 115
emilmont 6:350b53afb889 116 #define SVC_3_1(f,t,t1,t2,t3,...) \
emilmont 6:350b53afb889 117 __svc_indirect(0) t _##f (t(*)(t1,t2,t3),t1,t2,t3); \
emilmont 6:350b53afb889 118 t f (t1 a1, t2 a2, t3 a3); \
emilmont 6:350b53afb889 119 __attribute__((always_inline)) \
emilmont 6:350b53afb889 120 static __inline t __##f (t1 a1, t2 a2, t3 a3) { \
emilmont 6:350b53afb889 121 return _##f(f,a1,a2,a3); \
emilmont 6:350b53afb889 122 }
emilmont 6:350b53afb889 123
emilmont 6:350b53afb889 124 #define SVC_4_1(f,t,t1,t2,t3,t4,...) \
emilmont 6:350b53afb889 125 __svc_indirect(0) t _##f (t(*)(t1,t2,t3,t4),t1,t2,t3,t4); \
emilmont 6:350b53afb889 126 t f (t1 a1, t2 a2, t3 a3, t4 a4); \
emilmont 6:350b53afb889 127 __attribute__((always_inline)) \
emilmont 6:350b53afb889 128 static __inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
emilmont 6:350b53afb889 129 return _##f(f,a1,a2,a3,a4); \
emilmont 6:350b53afb889 130 }
emilmont 6:350b53afb889 131
emilmont 6:350b53afb889 132 #define SVC_1_2 SVC_1_1
emilmont 6:350b53afb889 133 #define SVC_1_3 SVC_1_1
emilmont 6:350b53afb889 134 #define SVC_2_3 SVC_2_1
emilmont 6:350b53afb889 135
emilmont 6:350b53afb889 136 #elif defined (__GNUC__) /* GNU Compiler */
emilmont 6:350b53afb889 137
emilmont 6:350b53afb889 138 #define __NO_RETURN __attribute__((noreturn))
emilmont 6:350b53afb889 139
emilmont 6:350b53afb889 140 typedef uint32_t __attribute__((vector_size(8))) ret64;
emilmont 6:350b53afb889 141 typedef uint32_t __attribute__((vector_size(16))) ret128;
emilmont 6:350b53afb889 142
emilmont 6:350b53afb889 143 #define RET_pointer __r0
emilmont 6:350b53afb889 144 #define RET_int32_t __r0
emilmont 6:350b53afb889 145 #define RET_osStatus __r0
emilmont 6:350b53afb889 146 #define RET_osPriority __r0
emilmont 6:350b53afb889 147 #define RET_osEvent {(osStatus)__r0, {(uint32_t)__r1}, {(void *)__r2}}
emilmont 6:350b53afb889 148 #define RET_osCallback {(void *)__r0, (void *)__r1}
emilmont 6:350b53afb889 149
emilmont 6:350b53afb889 150 #define osEvent_type ret128
emilmont 6:350b53afb889 151 #define osEvent_ret_status (ret128){ret.status}
emilmont 6:350b53afb889 152 #define osEvent_ret_value (ret128){ret.status, ret.value.v}
emilmont 6:350b53afb889 153 #define osEvent_ret_msg (ret128){ret.status, ret.value.v, (uint32_t)ret.def.message_id}
emilmont 6:350b53afb889 154 #define osEvent_ret_mail (ret128){ret.status, ret.value.v, (uint32_t)ret.def.mail_id}
emilmont 6:350b53afb889 155
emilmont 6:350b53afb889 156 #define osCallback_type ret64
emilmont 6:350b53afb889 157 #define osCallback_ret (ret64) {(uint32_t)ret.fp, (uint32_t)ret.arg}
emilmont 6:350b53afb889 158
emilmont 6:350b53afb889 159 #define SVC_ArgN(n) \
emilmont 6:350b53afb889 160 register int __r##n __asm("r"#n);
emilmont 6:350b53afb889 161
emilmont 6:350b53afb889 162 #define SVC_ArgR(n,t,a) \
emilmont 6:350b53afb889 163 register t __r##n __asm("r"#n) = a;
emilmont 6:350b53afb889 164
emilmont 6:350b53afb889 165 #define SVC_Arg0() \
emilmont 6:350b53afb889 166 SVC_ArgN(0) \
emilmont 6:350b53afb889 167 SVC_ArgN(1) \
emilmont 6:350b53afb889 168 SVC_ArgN(2) \
emilmont 6:350b53afb889 169 SVC_ArgN(3)
emilmont 6:350b53afb889 170
emilmont 6:350b53afb889 171 #define SVC_Arg1(t1) \
emilmont 6:350b53afb889 172 SVC_ArgR(0,t1,a1) \
emilmont 6:350b53afb889 173 SVC_ArgN(1) \
emilmont 6:350b53afb889 174 SVC_ArgN(2) \
emilmont 6:350b53afb889 175 SVC_ArgN(3)
emilmont 6:350b53afb889 176
emilmont 6:350b53afb889 177 #define SVC_Arg2(t1,t2) \
emilmont 6:350b53afb889 178 SVC_ArgR(0,t1,a1) \
emilmont 6:350b53afb889 179 SVC_ArgR(1,t2,a2) \
emilmont 6:350b53afb889 180 SVC_ArgN(2) \
emilmont 6:350b53afb889 181 SVC_ArgN(3)
emilmont 6:350b53afb889 182
emilmont 6:350b53afb889 183 #define SVC_Arg3(t1,t2,t3) \
emilmont 6:350b53afb889 184 SVC_ArgR(0,t1,a1) \
emilmont 6:350b53afb889 185 SVC_ArgR(1,t2,a2) \
emilmont 6:350b53afb889 186 SVC_ArgR(2,t3,a3) \
emilmont 6:350b53afb889 187 SVC_ArgN(3)
emilmont 6:350b53afb889 188
emilmont 6:350b53afb889 189 #define SVC_Arg4(t1,t2,t3,t4) \
emilmont 6:350b53afb889 190 SVC_ArgR(0,t1,a1) \
emilmont 6:350b53afb889 191 SVC_ArgR(1,t2,a2) \
emilmont 6:350b53afb889 192 SVC_ArgR(2,t3,a3) \
emilmont 6:350b53afb889 193 SVC_ArgR(3,t4,a4)
emilmont 6:350b53afb889 194
emilmont 6:350b53afb889 195 #if (defined (__CORTEX_M0))
emilmont 6:350b53afb889 196 #define SVC_Call(f) \
emilmont 6:350b53afb889 197 __asm volatile \
emilmont 6:350b53afb889 198 ( \
emilmont 6:350b53afb889 199 "ldr r7,="#f"\n\t" \
emilmont 6:350b53afb889 200 "mov r12,r7\n\t" \
emilmont 6:350b53afb889 201 "svc 0" \
emilmont 6:350b53afb889 202 : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
emilmont 6:350b53afb889 203 : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
emilmont 6:350b53afb889 204 : "r7", "r12", "lr", "cc" \
emilmont 6:350b53afb889 205 );
emilmont 6:350b53afb889 206 #else
emilmont 6:350b53afb889 207 #define SVC_Call(f) \
emilmont 6:350b53afb889 208 __asm volatile \
emilmont 6:350b53afb889 209 ( \
emilmont 6:350b53afb889 210 "ldr r12,="#f"\n\t" \
emilmont 6:350b53afb889 211 "svc 0" \
emilmont 6:350b53afb889 212 : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
emilmont 6:350b53afb889 213 : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
emilmont 6:350b53afb889 214 : "r12", "lr", "cc" \
emilmont 6:350b53afb889 215 );
emilmont 6:350b53afb889 216 #endif
emilmont 6:350b53afb889 217
emilmont 6:350b53afb889 218 #define SVC_0_1(f,t,rv) \
emilmont 6:350b53afb889 219 __attribute__((always_inline)) \
emilmont 6:350b53afb889 220 static inline t __##f (void) { \
emilmont 6:350b53afb889 221 SVC_Arg0(); \
emilmont 6:350b53afb889 222 SVC_Call(f); \
emilmont 6:350b53afb889 223 return (t) rv; \
emilmont 6:350b53afb889 224 }
emilmont 6:350b53afb889 225
emilmont 6:350b53afb889 226 #define SVC_1_1(f,t,t1,rv) \
emilmont 6:350b53afb889 227 __attribute__((always_inline)) \
emilmont 6:350b53afb889 228 static inline t __##f (t1 a1) { \
emilmont 6:350b53afb889 229 SVC_Arg1(t1); \
emilmont 6:350b53afb889 230 SVC_Call(f); \
emilmont 6:350b53afb889 231 return (t) rv; \
emilmont 6:350b53afb889 232 }
emilmont 6:350b53afb889 233
emilmont 6:350b53afb889 234 #define SVC_2_1(f,t,t1,t2,rv) \
emilmont 6:350b53afb889 235 __attribute__((always_inline)) \
emilmont 6:350b53afb889 236 static inline t __##f (t1 a1, t2 a2) { \
emilmont 6:350b53afb889 237 SVC_Arg2(t1,t2); \
emilmont 6:350b53afb889 238 SVC_Call(f); \
emilmont 6:350b53afb889 239 return (t) rv; \
emilmont 6:350b53afb889 240 }
emilmont 6:350b53afb889 241
emilmont 6:350b53afb889 242 #define SVC_3_1(f,t,t1,t2,t3,rv) \
emilmont 6:350b53afb889 243 __attribute__((always_inline)) \
emilmont 6:350b53afb889 244 static inline t __##f (t1 a1, t2 a2, t3 a3) { \
emilmont 6:350b53afb889 245 SVC_Arg3(t1,t2,t3); \
emilmont 6:350b53afb889 246 SVC_Call(f); \
emilmont 6:350b53afb889 247 return (t) rv; \
emilmont 6:350b53afb889 248 }
emilmont 6:350b53afb889 249
emilmont 6:350b53afb889 250 #define SVC_4_1(f,t,t1,t2,t3,t4,rv) \
emilmont 6:350b53afb889 251 __attribute__((always_inline)) \
emilmont 6:350b53afb889 252 static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
emilmont 6:350b53afb889 253 SVC_Arg4(t1,t2,t3,t4); \
emilmont 6:350b53afb889 254 SVC_Call(f); \
emilmont 6:350b53afb889 255 return (t) rv; \
emilmont 6:350b53afb889 256 }
emilmont 6:350b53afb889 257
emilmont 6:350b53afb889 258 #define SVC_1_2 SVC_1_1
emilmont 6:350b53afb889 259 #define SVC_1_3 SVC_1_1
emilmont 6:350b53afb889 260 #define SVC_2_3 SVC_2_1
emilmont 6:350b53afb889 261
emilmont 6:350b53afb889 262 #elif defined (__ICCARM__) /* IAR Compiler */
emilmont 6:350b53afb889 263
emilmont 6:350b53afb889 264 #define __NO_RETURN __noreturn
emilmont 6:350b53afb889 265
emilmont 6:350b53afb889 266 #define RET_osEvent "=r"(ret.status), "=r"(ret.value), "=r"(ret.def)
emilmont 6:350b53afb889 267 #define RET_osCallback "=r"(ret.fp), "=r"(ret.arg)
emilmont 6:350b53afb889 268
emilmont 6:350b53afb889 269 #define osEvent_type osEvent
emilmont 6:350b53afb889 270 #define osEvent_ret_status ret
emilmont 6:350b53afb889 271 #define osEvent_ret_value ret
emilmont 6:350b53afb889 272 #define osEvent_ret_msg ret
emilmont 6:350b53afb889 273 #define osEvent_ret_mail ret
emilmont 6:350b53afb889 274
emilmont 6:350b53afb889 275 #define osCallback_type uint64_t
emilmont 6:350b53afb889 276 #define osCallback_ret ((uint64_t)ret.fp | ((uint64_t)ret.arg)<<32)
emilmont 6:350b53afb889 277
emilmont 6:350b53afb889 278 #define SVC_Setup(f) \
emilmont 6:350b53afb889 279 __asm( \
emilmont 6:350b53afb889 280 "mov r12,%0\n" \
emilmont 6:350b53afb889 281 :: "r"(&f): "r12" \
emilmont 6:350b53afb889 282 );
emilmont 6:350b53afb889 283
emilmont 6:350b53afb889 284 #define SVC_Ret3() \
emilmont 6:350b53afb889 285 __asm( \
emilmont 6:350b53afb889 286 "ldr r0,[sp,#0]\n" \
emilmont 6:350b53afb889 287 "ldr r1,[sp,#4]\n" \
emilmont 6:350b53afb889 288 "ldr r2,[sp,#8]\n" \
emilmont 6:350b53afb889 289 );
emilmont 6:350b53afb889 290
emilmont 6:350b53afb889 291 #define SVC_0_1(f,t,...) \
emilmont 6:350b53afb889 292 t f (void); \
emilmont 6:350b53afb889 293 _Pragma("swi_number=0") __swi t _##f (void); \
emilmont 6:350b53afb889 294 static inline t __##f (void) { \
emilmont 6:350b53afb889 295 SVC_Setup(f); \
emilmont 6:350b53afb889 296 return _##f(); \
emilmont 6:350b53afb889 297 }
emilmont 6:350b53afb889 298
emilmont 6:350b53afb889 299 #define SVC_1_1(f,t,t1,...) \
emilmont 6:350b53afb889 300 t f (t1 a1); \
emilmont 6:350b53afb889 301 _Pragma("swi_number=0") __swi t _##f (t1 a1); \
emilmont 6:350b53afb889 302 static inline t __##f (t1 a1) { \
emilmont 6:350b53afb889 303 SVC_Setup(f); \
emilmont 6:350b53afb889 304 return _##f(a1); \
emilmont 6:350b53afb889 305 }
emilmont 6:350b53afb889 306
emilmont 6:350b53afb889 307 #define SVC_2_1(f,t,t1,t2,...) \
emilmont 6:350b53afb889 308 t f (t1 a1, t2 a2); \
emilmont 6:350b53afb889 309 _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2); \
emilmont 6:350b53afb889 310 static inline t __##f (t1 a1, t2 a2) { \
emilmont 6:350b53afb889 311 SVC_Setup(f); \
emilmont 6:350b53afb889 312 return _##f(a1,a2); \
emilmont 6:350b53afb889 313 }
emilmont 6:350b53afb889 314
emilmont 6:350b53afb889 315 #define SVC_3_1(f,t,t1,t2,t3,...) \
emilmont 6:350b53afb889 316 t f (t1 a1, t2 a2, t3 a3); \
emilmont 6:350b53afb889 317 _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3); \
emilmont 6:350b53afb889 318 static inline t __##f (t1 a1, t2 a2, t3 a3) { \
emilmont 6:350b53afb889 319 SVC_Setup(f); \
emilmont 6:350b53afb889 320 return _##f(a1,a2,a3); \
emilmont 6:350b53afb889 321 }
emilmont 6:350b53afb889 322
emilmont 6:350b53afb889 323 #define SVC_4_1(f,t,t1,t2,t3,t4,...) \
emilmont 6:350b53afb889 324 t f (t1 a1, t2 a2, t3 a3, t4 a4); \
emilmont 6:350b53afb889 325 _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3, t4 a4); \
emilmont 6:350b53afb889 326 static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
emilmont 6:350b53afb889 327 SVC_Setup(f); \
emilmont 6:350b53afb889 328 return _##f(a1,a2,a3,a4); \
emilmont 6:350b53afb889 329 }
emilmont 6:350b53afb889 330
emilmont 6:350b53afb889 331 #define SVC_1_2(f,t,t1,rr) \
emilmont 6:350b53afb889 332 uint64_t f (t1 a1); \
emilmont 6:350b53afb889 333 _Pragma("swi_number=0") __swi uint64_t _##f (t1 a1); \
emilmont 6:350b53afb889 334 static inline t __##f (t1 a1) { \
emilmont 6:350b53afb889 335 t ret; \
emilmont 6:350b53afb889 336 SVC_Setup(f); \
emilmont 6:350b53afb889 337 _##f(a1); \
emilmont 6:350b53afb889 338 __asm("" : rr : :); \
emilmont 6:350b53afb889 339 return ret; \
emilmont 6:350b53afb889 340 }
emilmont 6:350b53afb889 341
emilmont 6:350b53afb889 342 #define SVC_1_3(f,t,t1,rr) \
emilmont 6:350b53afb889 343 t f (t1 a1); \
emilmont 6:350b53afb889 344 void f##_ (t1 a1) { \
emilmont 6:350b53afb889 345 f(a1); \
emilmont 6:350b53afb889 346 SVC_Ret3(); \
emilmont 6:350b53afb889 347 } \
emilmont 6:350b53afb889 348 _Pragma("swi_number=0") __swi void _##f (t1 a1); \
emilmont 6:350b53afb889 349 static inline t __##f (t1 a1) { \
emilmont 6:350b53afb889 350 t ret; \
emilmont 6:350b53afb889 351 SVC_Setup(f##_); \
emilmont 6:350b53afb889 352 _##f(a1); \
emilmont 6:350b53afb889 353 __asm("" : rr : :); \
emilmont 6:350b53afb889 354 return ret; \
emilmont 6:350b53afb889 355 }
emilmont 6:350b53afb889 356
emilmont 6:350b53afb889 357 #define SVC_2_3(f,t,t1,t2,rr) \
emilmont 6:350b53afb889 358 t f (t1 a1, t2 a2); \
emilmont 6:350b53afb889 359 void f##_ (t1 a1, t2 a2) { \
emilmont 6:350b53afb889 360 f(a1,a2); \
emilmont 6:350b53afb889 361 SVC_Ret3(); \
emilmont 6:350b53afb889 362 } \
emilmont 6:350b53afb889 363 _Pragma("swi_number=0") __swi void _##f (t1 a1, t2 a2); \
emilmont 6:350b53afb889 364 static inline t __##f (t1 a1, t2 a2) { \
emilmont 6:350b53afb889 365 t ret; \
emilmont 6:350b53afb889 366 SVC_Setup(f##_); \
emilmont 6:350b53afb889 367 _##f(a1,a2); \
emilmont 6:350b53afb889 368 __asm("" : rr : :); \
emilmont 6:350b53afb889 369 return ret; \
emilmont 6:350b53afb889 370 }
emilmont 6:350b53afb889 371
emilmont 6:350b53afb889 372 #endif
emilmont 6:350b53afb889 373
emilmont 6:350b53afb889 374
emilmont 6:350b53afb889 375 // Callback structure
emilmont 6:350b53afb889 376 typedef struct {
emilmont 6:350b53afb889 377 void *fp; // Function pointer
emilmont 6:350b53afb889 378 void *arg; // Function argument
emilmont 6:350b53afb889 379 } osCallback;
emilmont 6:350b53afb889 380
emilmont 6:350b53afb889 381
emilmont 6:350b53afb889 382 // OS Section definitions
emilmont 6:350b53afb889 383 #ifdef OS_SECTIONS_LINK_INFO
emilmont 6:350b53afb889 384 extern const uint32_t os_section_id$$Base;
emilmont 6:350b53afb889 385 extern const uint32_t os_section_id$$Limit;
emilmont 6:350b53afb889 386 #endif
emilmont 6:350b53afb889 387
emilmont 6:350b53afb889 388 // OS Timers external resources
emilmont 6:350b53afb889 389 extern osThreadDef_t os_thread_def_osTimerThread;
emilmont 6:350b53afb889 390 extern osThreadId osThreadId_osTimerThread;
emilmont 6:350b53afb889 391 extern osMessageQDef_t os_messageQ_def_osTimerMessageQ;
emilmont 6:350b53afb889 392 extern osMessageQId osMessageQId_osTimerMessageQ;
emilmont 6:350b53afb889 393
emilmont 6:350b53afb889 394
emilmont 6:350b53afb889 395 // ==== Helper Functions ====
emilmont 6:350b53afb889 396
emilmont 6:350b53afb889 397 /// Convert timeout in millisec to system ticks
emilmont 6:350b53afb889 398 static uint32_t rt_ms2tick (uint32_t millisec) {
emilmont 6:350b53afb889 399 uint32_t tick;
emilmont 6:350b53afb889 400
emilmont 6:350b53afb889 401 if (millisec == osWaitForever) return 0xFFFF; // Indefinite timeout
emilmont 6:350b53afb889 402 if (millisec > 4000000) return 0xFFFE; // Max ticks supported
emilmont 6:350b53afb889 403
emilmont 6:350b53afb889 404 tick = ((1000 * millisec) + os_clockrate - 1) / os_clockrate;
emilmont 6:350b53afb889 405 if (tick > 0xFFFE) return 0xFFFE;
emilmont 6:350b53afb889 406
emilmont 6:350b53afb889 407 return tick;
emilmont 6:350b53afb889 408 }
emilmont 6:350b53afb889 409
emilmont 6:350b53afb889 410 /// Convert Thread ID to TCB pointer
emilmont 6:350b53afb889 411 static P_TCB rt_tid2ptcb (osThreadId thread_id) {
emilmont 6:350b53afb889 412 P_TCB ptcb;
emilmont 6:350b53afb889 413
emilmont 6:350b53afb889 414 if (thread_id == NULL) return NULL;
emilmont 6:350b53afb889 415
emilmont 6:350b53afb889 416 if ((uint32_t)thread_id & 3) return NULL;
emilmont 6:350b53afb889 417
emilmont 6:350b53afb889 418 #ifdef OS_SECTIONS_LINK_INFO
emilmont 6:350b53afb889 419 if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
emilmont 6:350b53afb889 420 if (thread_id < (osThreadId)os_section_id$$Base) return NULL;
emilmont 6:350b53afb889 421 if (thread_id >= (osThreadId)os_section_id$$Limit) return NULL;
emilmont 6:350b53afb889 422 }
emilmont 6:350b53afb889 423 #endif
emilmont 6:350b53afb889 424
emilmont 6:350b53afb889 425 ptcb = thread_id;
emilmont 6:350b53afb889 426
emilmont 6:350b53afb889 427 if (ptcb->cb_type != TCB) return NULL;
emilmont 6:350b53afb889 428
emilmont 6:350b53afb889 429 return ptcb;
emilmont 6:350b53afb889 430 }
emilmont 6:350b53afb889 431
emilmont 6:350b53afb889 432 /// Convert ID pointer to Object pointer
emilmont 6:350b53afb889 433 static void *rt_id2obj (void *id) {
emilmont 6:350b53afb889 434
emilmont 6:350b53afb889 435 if ((uint32_t)id & 3) return NULL;
emilmont 6:350b53afb889 436
emilmont 6:350b53afb889 437 #ifdef OS_SECTIONS_LINK_INFO
emilmont 6:350b53afb889 438 if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
emilmont 6:350b53afb889 439 if (id < (void *)os_section_id$$Base) return NULL;
emilmont 6:350b53afb889 440 if (id >= (void *)os_section_id$$Limit) return NULL;
emilmont 6:350b53afb889 441 }
emilmont 6:350b53afb889 442 #endif
emilmont 6:350b53afb889 443
emilmont 6:350b53afb889 444 return id;
emilmont 6:350b53afb889 445 }
emilmont 6:350b53afb889 446
emilmont 6:350b53afb889 447
emilmont 6:350b53afb889 448 // ==== Kernel Control ====
emilmont 6:350b53afb889 449
emilmont 6:350b53afb889 450 uint8_t os_initialized; // Kernel Initialized flag
emilmont 6:350b53afb889 451 uint8_t os_running; // Kernel Running flag
emilmont 6:350b53afb889 452
emilmont 6:350b53afb889 453 // Kernel Control Service Calls declarations
emilmont 6:350b53afb889 454 SVC_0_1(svcKernelInitialize, osStatus, RET_osStatus)
emilmont 6:350b53afb889 455 SVC_0_1(svcKernelStart, osStatus, RET_osStatus)
emilmont 6:350b53afb889 456 SVC_0_1(svcKernelRunning, int32_t, RET_int32_t)
emilmont 6:350b53afb889 457
emilmont 6:350b53afb889 458 extern void sysThreadError (osStatus status);
emilmont 6:350b53afb889 459 osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument);
emilmont 6:350b53afb889 460 osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id);
emilmont 6:350b53afb889 461
emilmont 6:350b53afb889 462 // Kernel Control Service Calls
emilmont 6:350b53afb889 463
emilmont 6:350b53afb889 464 /// Initialize the RTOS Kernel for creating objects
emilmont 6:350b53afb889 465 osStatus svcKernelInitialize (void) {
emilmont 6:350b53afb889 466 if (os_initialized) return osOK;
emilmont 6:350b53afb889 467
emilmont 6:350b53afb889 468 rt_sys_init(); // RTX System Initialization
emilmont 6:350b53afb889 469 os_tsk.run->prio = 255; // Highest priority
emilmont 6:350b53afb889 470
emilmont 6:350b53afb889 471 sysThreadError(osOK);
emilmont 6:350b53afb889 472
emilmont 6:350b53afb889 473 os_initialized = 1;
emilmont 6:350b53afb889 474
emilmont 6:350b53afb889 475 return osOK;
emilmont 6:350b53afb889 476 }
emilmont 6:350b53afb889 477
emilmont 6:350b53afb889 478 /// Start the RTOS Kernel
emilmont 6:350b53afb889 479 osStatus svcKernelStart (void) {
emilmont 6:350b53afb889 480
emilmont 6:350b53afb889 481 if (os_running) return osOK;
emilmont 6:350b53afb889 482
emilmont 6:350b53afb889 483 // Create OS Timers resources (Message Queue & Thread)
emilmont 6:350b53afb889 484 osMessageQId_osTimerMessageQ = svcMessageCreate (&os_messageQ_def_osTimerMessageQ, NULL);
emilmont 6:350b53afb889 485 osThreadId_osTimerThread = svcThreadCreate(&os_thread_def_osTimerThread, NULL);
emilmont 6:350b53afb889 486
emilmont 6:350b53afb889 487 rt_tsk_prio(0, 0); // Lowest priority
emilmont 6:350b53afb889 488 __set_PSP(os_tsk.run->tsk_stack + 8*4); // New context
emilmont 6:350b53afb889 489 os_tsk.run = NULL; // Force context switch
emilmont 6:350b53afb889 490
emilmont 6:350b53afb889 491 rt_sys_start();
emilmont 6:350b53afb889 492
emilmont 6:350b53afb889 493 os_running = 1;
emilmont 6:350b53afb889 494
emilmont 6:350b53afb889 495 return osOK;
emilmont 6:350b53afb889 496 }
emilmont 6:350b53afb889 497
emilmont 6:350b53afb889 498 /// Check if the RTOS kernel is already started
emilmont 6:350b53afb889 499 int32_t svcKernelRunning(void) {
emilmont 6:350b53afb889 500 return os_running;
emilmont 6:350b53afb889 501 }
emilmont 6:350b53afb889 502
emilmont 6:350b53afb889 503 // Kernel Control Public API
emilmont 6:350b53afb889 504
emilmont 6:350b53afb889 505 /// Initialize the RTOS Kernel for creating objects
emilmont 6:350b53afb889 506 osStatus osKernelInitialize (void) {
emilmont 6:350b53afb889 507 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
emilmont 6:350b53afb889 508 if ((__get_CONTROL() & 1) == 0) { // Privileged mode
emilmont 6:350b53afb889 509 return svcKernelInitialize();
emilmont 6:350b53afb889 510 } else {
emilmont 6:350b53afb889 511 return __svcKernelInitialize();
emilmont 6:350b53afb889 512 }
emilmont 6:350b53afb889 513 }
emilmont 6:350b53afb889 514
emilmont 6:350b53afb889 515 /// Start the RTOS Kernel
emilmont 6:350b53afb889 516 osStatus osKernelStart (void) {
emilmont 6:350b53afb889 517 uint32_t stack[8];
emilmont 6:350b53afb889 518
emilmont 6:350b53afb889 519 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
emilmont 6:350b53afb889 520 switch (__get_CONTROL() & 0x03) {
emilmont 6:350b53afb889 521 case 0x00: // Privileged Thread mode & MSP
emilmont 6:350b53afb889 522 __set_PSP((uint32_t)(stack + 8)); // Initial PSP
emilmont 6:350b53afb889 523 if (os_flags & 1) {
emilmont 6:350b53afb889 524 __set_CONTROL(0x02); // Set Privileged Thread mode & PSP
emilmont 6:350b53afb889 525 } else {
emilmont 6:350b53afb889 526 __set_CONTROL(0x03); // Set Unprivileged Thread mode & PSP
emilmont 6:350b53afb889 527 }
emilmont 6:350b53afb889 528 __DSB();
emilmont 6:350b53afb889 529 __ISB();
emilmont 6:350b53afb889 530 break;
emilmont 6:350b53afb889 531 case 0x01: // Unprivileged Thread mode & MSP
emilmont 6:350b53afb889 532 return osErrorOS;
emilmont 6:350b53afb889 533 case 0x02: // Privileged Thread mode & PSP
emilmont 6:350b53afb889 534 if ((os_flags & 1) == 0) { // Unprivileged Thread mode requested
emilmont 6:350b53afb889 535 __set_CONTROL(0x03); // Set Unprivileged Thread mode & PSP
emilmont 6:350b53afb889 536 __DSB();
emilmont 6:350b53afb889 537 __ISB();
emilmont 6:350b53afb889 538 }
emilmont 6:350b53afb889 539 break;
emilmont 6:350b53afb889 540 case 0x03: // Unprivileged Thread mode & PSP
emilmont 6:350b53afb889 541 if (os_flags & 1) return osErrorOS; // Privileged Thread mode requested
emilmont 6:350b53afb889 542 break;
emilmont 6:350b53afb889 543 }
emilmont 6:350b53afb889 544 return __svcKernelStart();
emilmont 6:350b53afb889 545 }
emilmont 6:350b53afb889 546
emilmont 6:350b53afb889 547 /// Check if the RTOS kernel is already started
emilmont 6:350b53afb889 548 int32_t osKernelRunning(void) {
emilmont 6:350b53afb889 549 if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) {
emilmont 6:350b53afb889 550 // in ISR or Privileged
emilmont 6:350b53afb889 551 return os_running;
emilmont 6:350b53afb889 552 } else {
emilmont 6:350b53afb889 553 return __svcKernelRunning();
emilmont 6:350b53afb889 554 }
emilmont 6:350b53afb889 555 }
emilmont 6:350b53afb889 556
emilmont 6:350b53afb889 557
emilmont 6:350b53afb889 558 // ==== Thread Management ====
emilmont 6:350b53afb889 559
emilmont 6:350b53afb889 560 __NO_RETURN void osThreadExit (void);
emilmont 6:350b53afb889 561
emilmont 6:350b53afb889 562 // Thread Service Calls declarations
emilmont 6:350b53afb889 563 SVC_2_1(svcThreadCreate, osThreadId, osThreadDef_t *, void *, RET_pointer)
emilmont 6:350b53afb889 564 SVC_0_1(svcThreadGetId, osThreadId, RET_pointer)
emilmont 6:350b53afb889 565 SVC_1_1(svcThreadTerminate, osStatus, osThreadId, RET_osStatus)
emilmont 6:350b53afb889 566 SVC_0_1(svcThreadYield, osStatus, RET_osStatus)
emilmont 6:350b53afb889 567 SVC_2_1(svcThreadSetPriority, osStatus, osThreadId, osPriority, RET_osStatus)
emilmont 6:350b53afb889 568 SVC_1_1(svcThreadGetPriority, osPriority, osThreadId, RET_osPriority)
emilmont 6:350b53afb889 569
emilmont 6:350b53afb889 570 // Thread Service Calls
emilmont 6:350b53afb889 571 extern OS_TID rt_get_TID (void);
emilmont 6:350b53afb889 572 extern void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body);
emilmont 6:350b53afb889 573
emilmont 6:350b53afb889 574 /// Create a thread and add it to Active Threads and set it to state READY
emilmont 6:350b53afb889 575 osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument) {
emilmont 6:350b53afb889 576 P_TCB ptcb;
emilmont 6:350b53afb889 577
emilmont 6:350b53afb889 578 if ((thread_def == NULL) ||
emilmont 6:350b53afb889 579 (thread_def->pthread == NULL) ||
emilmont 6:350b53afb889 580 (thread_def->tpriority < osPriorityIdle) ||
emilmont 6:350b53afb889 581 (thread_def->tpriority > osPriorityRealtime) ||
emilmont 6:350b53afb889 582 (thread_def->stacksize == 0) ||
emilmont 6:350b53afb889 583 (thread_def->stack_pointer == NULL) ) {
emilmont 6:350b53afb889 584 sysThreadError(osErrorParameter);
emilmont 6:350b53afb889 585 return NULL;
emilmont 6:350b53afb889 586 }
emilmont 6:350b53afb889 587
emilmont 6:350b53afb889 588 U8 priority = thread_def->tpriority - osPriorityIdle + 1;
emilmont 6:350b53afb889 589 P_TCB task_context = &thread_def->tcb;
emilmont 6:350b53afb889 590
emilmont 6:350b53afb889 591 /* If "size != 0" use a private user provided stack. */
emilmont 6:350b53afb889 592 task_context->stack = (U32*)thread_def->stack_pointer;
emilmont 6:350b53afb889 593 task_context->priv_stack = thread_def->stacksize;
emilmont 6:350b53afb889 594 /* Pass parameter 'argv' to 'rt_init_context' */
emilmont 6:350b53afb889 595 task_context->msg = argument;
emilmont 6:350b53afb889 596 /* For 'size == 0' system allocates the user stack from the memory pool. */
emilmont 6:350b53afb889 597 rt_init_context (task_context, priority, (FUNCP)thread_def->pthread);
emilmont 6:350b53afb889 598
emilmont 6:350b53afb889 599 /* Find a free entry in 'os_active_TCB' table. */
emilmont 6:350b53afb889 600 OS_TID tsk = rt_get_TID ();
emilmont 6:350b53afb889 601 os_active_TCB[tsk-1] = task_context;
emilmont 6:350b53afb889 602 task_context->task_id = tsk;
emilmont 6:350b53afb889 603 DBG_TASK_NOTIFY(task_context, __TRUE);
emilmont 6:350b53afb889 604 rt_dispatch (task_context);
emilmont 6:350b53afb889 605
emilmont 6:350b53afb889 606 ptcb = (P_TCB)os_active_TCB[tsk - 1]; // TCB pointer
emilmont 6:350b53afb889 607
emilmont 6:350b53afb889 608 *((uint32_t *)ptcb->tsk_stack + 13) = (uint32_t)osThreadExit;
emilmont 6:350b53afb889 609
emilmont 6:350b53afb889 610 return ptcb;
emilmont 6:350b53afb889 611 }
emilmont 6:350b53afb889 612
emilmont 6:350b53afb889 613 /// Return the thread ID of the current running thread
emilmont 6:350b53afb889 614 osThreadId svcThreadGetId (void) {
emilmont 6:350b53afb889 615 OS_TID tsk;
emilmont 6:350b53afb889 616
emilmont 6:350b53afb889 617 tsk = rt_tsk_self();
emilmont 6:350b53afb889 618 if (tsk == 0) return NULL;
emilmont 6:350b53afb889 619 return (P_TCB)os_active_TCB[tsk - 1];
emilmont 6:350b53afb889 620 }
emilmont 6:350b53afb889 621
emilmont 6:350b53afb889 622 /// Terminate execution of a thread and remove it from ActiveThreads
emilmont 6:350b53afb889 623 osStatus svcThreadTerminate (osThreadId thread_id) {
emilmont 6:350b53afb889 624 OS_RESULT res;
emilmont 6:350b53afb889 625 P_TCB ptcb;
emilmont 6:350b53afb889 626
emilmont 6:350b53afb889 627 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
emilmont 6:350b53afb889 628 if (ptcb == NULL) return osErrorParameter;
emilmont 6:350b53afb889 629
emilmont 6:350b53afb889 630 res = rt_tsk_delete(ptcb->task_id); // Delete task
emilmont 6:350b53afb889 631
emilmont 6:350b53afb889 632 if (res == OS_R_NOK) return osErrorResource; // Delete task failed
emilmont 6:350b53afb889 633
emilmont 6:350b53afb889 634 return osOK;
emilmont 6:350b53afb889 635 }
emilmont 6:350b53afb889 636
emilmont 6:350b53afb889 637 /// Pass control to next thread that is in state READY
emilmont 6:350b53afb889 638 osStatus svcThreadYield (void) {
emilmont 6:350b53afb889 639 rt_tsk_pass(); // Pass control to next task
emilmont 6:350b53afb889 640 return osOK;
emilmont 6:350b53afb889 641 }
emilmont 6:350b53afb889 642
emilmont 6:350b53afb889 643 /// Change priority of an active thread
emilmont 6:350b53afb889 644 osStatus svcThreadSetPriority (osThreadId thread_id, osPriority priority) {
emilmont 6:350b53afb889 645 OS_RESULT res;
emilmont 6:350b53afb889 646 P_TCB ptcb;
emilmont 6:350b53afb889 647
emilmont 6:350b53afb889 648 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
emilmont 6:350b53afb889 649 if (ptcb == NULL) return osErrorParameter;
emilmont 6:350b53afb889 650
emilmont 6:350b53afb889 651 if ((priority < osPriorityIdle) || (priority > osPriorityRealtime)) {
emilmont 6:350b53afb889 652 return osErrorValue;
emilmont 6:350b53afb889 653 }
emilmont 6:350b53afb889 654
emilmont 6:350b53afb889 655 res = rt_tsk_prio( // Change task priority
emilmont 6:350b53afb889 656 ptcb->task_id, // Task ID
emilmont 6:350b53afb889 657 priority - osPriorityIdle + 1 // New task priority
emilmont 6:350b53afb889 658 );
emilmont 6:350b53afb889 659
emilmont 6:350b53afb889 660 if (res == OS_R_NOK) return osErrorResource; // Change task priority failed
emilmont 6:350b53afb889 661
emilmont 6:350b53afb889 662 return osOK;
emilmont 6:350b53afb889 663 }
emilmont 6:350b53afb889 664
emilmont 6:350b53afb889 665 /// Get current priority of an active thread
emilmont 6:350b53afb889 666 osPriority svcThreadGetPriority (osThreadId thread_id) {
emilmont 6:350b53afb889 667 P_TCB ptcb;
emilmont 6:350b53afb889 668
emilmont 6:350b53afb889 669 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
emilmont 6:350b53afb889 670 if (ptcb == NULL) return osPriorityError;
emilmont 6:350b53afb889 671
emilmont 6:350b53afb889 672 return (osPriority)(ptcb->prio - 1 + osPriorityIdle);
emilmont 6:350b53afb889 673 }
emilmont 6:350b53afb889 674
emilmont 6:350b53afb889 675
emilmont 6:350b53afb889 676 // Thread Public API
emilmont 6:350b53afb889 677
emilmont 6:350b53afb889 678 /// Create a thread and add it to Active Threads and set it to state READY
emilmont 6:350b53afb889 679 osThreadId osThreadCreate (osThreadDef_t *thread_def, void *argument) {
emilmont 6:350b53afb889 680 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
emilmont 6:350b53afb889 681 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
emilmont 6:350b53afb889 682 // Privileged and not running
emilmont 6:350b53afb889 683 return svcThreadCreate(thread_def, argument);
emilmont 6:350b53afb889 684 } else {
emilmont 6:350b53afb889 685 return __svcThreadCreate(thread_def, argument);
emilmont 6:350b53afb889 686 }
emilmont 6:350b53afb889 687 }
emilmont 6:350b53afb889 688
emilmont 6:350b53afb889 689 /// Return the thread ID of the current running thread
emilmont 6:350b53afb889 690 osThreadId osThreadGetId (void) {
emilmont 6:350b53afb889 691 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
emilmont 6:350b53afb889 692 return __svcThreadGetId();
emilmont 6:350b53afb889 693 }
emilmont 6:350b53afb889 694
emilmont 6:350b53afb889 695 /// Terminate execution of a thread and remove it from ActiveThreads
emilmont 6:350b53afb889 696 osStatus osThreadTerminate (osThreadId thread_id) {
emilmont 6:350b53afb889 697 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
emilmont 6:350b53afb889 698 return __svcThreadTerminate(thread_id);
emilmont 6:350b53afb889 699 }
emilmont 6:350b53afb889 700
emilmont 6:350b53afb889 701 /// Pass control to next thread that is in state READY
emilmont 6:350b53afb889 702 osStatus osThreadYield (void) {
emilmont 6:350b53afb889 703 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
emilmont 6:350b53afb889 704 return __svcThreadYield();
emilmont 6:350b53afb889 705 }
emilmont 6:350b53afb889 706
emilmont 6:350b53afb889 707 /// Change priority of an active thread
emilmont 6:350b53afb889 708 osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
emilmont 6:350b53afb889 709 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
emilmont 6:350b53afb889 710 return __svcThreadSetPriority(thread_id, priority);
emilmont 6:350b53afb889 711 }
emilmont 6:350b53afb889 712
emilmont 6:350b53afb889 713 /// Get current priority of an active thread
emilmont 6:350b53afb889 714 osPriority osThreadGetPriority (osThreadId thread_id) {
emilmont 6:350b53afb889 715 if (__get_IPSR() != 0) return osPriorityError;// Not allowed in ISR
emilmont 6:350b53afb889 716 return __svcThreadGetPriority(thread_id);
emilmont 6:350b53afb889 717 }
emilmont 6:350b53afb889 718
emilmont 6:350b53afb889 719 /// INTERNAL - Not Public
emilmont 6:350b53afb889 720 /// Auto Terminate Thread on exit (used implicitly when thread exists)
emilmont 6:350b53afb889 721 __NO_RETURN void osThreadExit (void) {
emilmont 6:350b53afb889 722 __svcThreadTerminate(__svcThreadGetId());
emilmont 6:350b53afb889 723 for (;;); // Should never come here
emilmont 6:350b53afb889 724 }
emilmont 6:350b53afb889 725
emilmont 6:350b53afb889 726
emilmont 6:350b53afb889 727 // ==== Generic Wait Functions ====
emilmont 6:350b53afb889 728
emilmont 6:350b53afb889 729 // Generic Wait Service Calls declarations
emilmont 6:350b53afb889 730 SVC_1_1(svcDelay, osStatus, uint32_t, RET_osStatus)
emilmont 6:350b53afb889 731 #if osFeature_Wait != 0
emilmont 6:350b53afb889 732 SVC_1_3(svcWait, os_InRegs osEvent, uint32_t, RET_osEvent)
emilmont 6:350b53afb889 733 #endif
emilmont 6:350b53afb889 734
emilmont 6:350b53afb889 735 // Generic Wait Service Calls
emilmont 6:350b53afb889 736
emilmont 6:350b53afb889 737 /// Wait for Timeout (Time Delay)
emilmont 6:350b53afb889 738 osStatus svcDelay (uint32_t millisec) {
emilmont 6:350b53afb889 739 if (millisec == 0) return osOK;
emilmont 6:350b53afb889 740 rt_dly_wait(rt_ms2tick(millisec));
emilmont 6:350b53afb889 741 return osEventTimeout;
emilmont 6:350b53afb889 742 }
emilmont 6:350b53afb889 743
emilmont 6:350b53afb889 744 /// Wait for Signal, Message, Mail, or Timeout
emilmont 6:350b53afb889 745 #if osFeature_Wait != 0
emilmont 6:350b53afb889 746 os_InRegs osEvent_type svcWait (uint32_t millisec) {
emilmont 6:350b53afb889 747 osEvent ret;
emilmont 6:350b53afb889 748
emilmont 6:350b53afb889 749 if (millisec == 0) {
emilmont 6:350b53afb889 750 ret.status = osOK;
emilmont 6:350b53afb889 751 return osEvent_ret_status;
emilmont 6:350b53afb889 752 }
emilmont 6:350b53afb889 753
emilmont 6:350b53afb889 754 /* To Do: osEventSignal, osEventMessage, osEventMail */
emilmont 6:350b53afb889 755 rt_dly_wait(rt_ms2tick(millisec));
emilmont 6:350b53afb889 756 ret.status = osEventTimeout;
emilmont 6:350b53afb889 757
emilmont 6:350b53afb889 758 return osEvent_ret_status;
emilmont 6:350b53afb889 759 }
emilmont 6:350b53afb889 760 #endif
emilmont 6:350b53afb889 761
emilmont 6:350b53afb889 762
emilmont 6:350b53afb889 763 // Generic Wait API
emilmont 6:350b53afb889 764
emilmont 6:350b53afb889 765 /// Wait for Timeout (Time Delay)
emilmont 6:350b53afb889 766 osStatus osDelay (uint32_t millisec) {
emilmont 6:350b53afb889 767 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
emilmont 6:350b53afb889 768 return __svcDelay(millisec);
emilmont 6:350b53afb889 769 }
emilmont 6:350b53afb889 770
emilmont 6:350b53afb889 771 /// Wait for Signal, Message, Mail, or Timeout
emilmont 6:350b53afb889 772 os_InRegs osEvent osWait (uint32_t millisec) {
emilmont 6:350b53afb889 773 osEvent ret;
emilmont 6:350b53afb889 774
emilmont 6:350b53afb889 775 #if osFeature_Wait == 0
emilmont 6:350b53afb889 776 ret.status = osErrorOS;
emilmont 6:350b53afb889 777 return ret;
emilmont 6:350b53afb889 778 #else
emilmont 6:350b53afb889 779 if (__get_IPSR() != 0) { // Not allowed in ISR
emilmont 6:350b53afb889 780 ret.status = osErrorISR;
emilmont 6:350b53afb889 781 return ret;
emilmont 6:350b53afb889 782 }
emilmont 6:350b53afb889 783 return __svcWait(millisec);
emilmont 6:350b53afb889 784 #endif
emilmont 6:350b53afb889 785 }
emilmont 6:350b53afb889 786
emilmont 6:350b53afb889 787
emilmont 6:350b53afb889 788 // ==== Timer Management ====
emilmont 6:350b53afb889 789
emilmont 6:350b53afb889 790 // Timer definitions
emilmont 6:350b53afb889 791 #define osTimerInvalid 0
emilmont 6:350b53afb889 792 #define osTimerStopped 1
emilmont 6:350b53afb889 793 #define osTimerRunning 2
emilmont 6:350b53afb889 794
emilmont 6:350b53afb889 795 // Timer structures
emilmont 6:350b53afb889 796
emilmont 6:350b53afb889 797 typedef struct os_timer_cb_ { // Timer Control Block
emilmont 6:350b53afb889 798 struct os_timer_cb_ *next; // Pointer to next active Timer
emilmont 6:350b53afb889 799 uint8_t state; // Timer State
emilmont 6:350b53afb889 800 uint8_t type; // Timer Type (Periodic/One-shot)
emilmont 6:350b53afb889 801 uint16_t reserved; // Reserved
emilmont 6:350b53afb889 802 uint16_t tcnt; // Timer Delay Count
emilmont 6:350b53afb889 803 uint16_t icnt; // Timer Initial Count
emilmont 6:350b53afb889 804 void *arg; // Timer Function Argument
emilmont 6:350b53afb889 805 osTimerDef_t *timer; // Pointer to Timer definition
emilmont 6:350b53afb889 806 } os_timer_cb;
emilmont 6:350b53afb889 807
emilmont 6:350b53afb889 808 // Timer variables
emilmont 6:350b53afb889 809 os_timer_cb *os_timer_head; // Pointer to first active Timer
emilmont 6:350b53afb889 810
emilmont 6:350b53afb889 811
emilmont 6:350b53afb889 812 // Timer Helper Functions
emilmont 6:350b53afb889 813
emilmont 6:350b53afb889 814 // Insert Timer into the list sorted by time
emilmont 6:350b53afb889 815 static void rt_timer_insert (os_timer_cb *pt, uint32_t tcnt) {
emilmont 6:350b53afb889 816 os_timer_cb *p, *prev;
emilmont 6:350b53afb889 817
emilmont 6:350b53afb889 818 prev = NULL;
emilmont 6:350b53afb889 819 p = os_timer_head;
emilmont 6:350b53afb889 820 while (p != NULL) {
emilmont 6:350b53afb889 821 if (tcnt < p->tcnt) break;
emilmont 6:350b53afb889 822 tcnt -= p->tcnt;
emilmont 6:350b53afb889 823 prev = p;
emilmont 6:350b53afb889 824 p = p->next;
emilmont 6:350b53afb889 825 }
emilmont 6:350b53afb889 826 pt->next = p;
emilmont 6:350b53afb889 827 pt->tcnt = (uint16_t)tcnt;
emilmont 6:350b53afb889 828 if (p != NULL) {
emilmont 6:350b53afb889 829 p->tcnt -= pt->tcnt;
emilmont 6:350b53afb889 830 }
emilmont 6:350b53afb889 831 if (prev != NULL) {
emilmont 6:350b53afb889 832 prev->next = pt;
emilmont 6:350b53afb889 833 } else {
emilmont 6:350b53afb889 834 os_timer_head = pt;
emilmont 6:350b53afb889 835 }
emilmont 6:350b53afb889 836 }
emilmont 6:350b53afb889 837
emilmont 6:350b53afb889 838 // Remove Timer from the list
emilmont 6:350b53afb889 839 static int rt_timer_remove (os_timer_cb *pt) {
emilmont 6:350b53afb889 840 os_timer_cb *p, *prev;
emilmont 6:350b53afb889 841
emilmont 6:350b53afb889 842 prev = NULL;
emilmont 6:350b53afb889 843 p = os_timer_head;
emilmont 6:350b53afb889 844 while (p != NULL) {
emilmont 6:350b53afb889 845 if (p == pt) break;
emilmont 6:350b53afb889 846 prev = p;
emilmont 6:350b53afb889 847 p = p->next;
emilmont 6:350b53afb889 848 }
emilmont 6:350b53afb889 849 if (p == NULL) return -1;
emilmont 6:350b53afb889 850 if (prev != NULL) {
emilmont 6:350b53afb889 851 prev->next = pt->next;
emilmont 6:350b53afb889 852 } else {
emilmont 6:350b53afb889 853 os_timer_head = pt->next;
emilmont 6:350b53afb889 854 }
emilmont 6:350b53afb889 855 if (pt->next != NULL) {
emilmont 6:350b53afb889 856 pt->next->tcnt += pt->tcnt;
emilmont 6:350b53afb889 857 }
emilmont 6:350b53afb889 858
emilmont 6:350b53afb889 859 return 0;
emilmont 6:350b53afb889 860 }
emilmont 6:350b53afb889 861
emilmont 6:350b53afb889 862
emilmont 6:350b53afb889 863 // Timer Service Calls declarations
emilmont 6:350b53afb889 864 SVC_3_1(svcTimerCreate, osTimerId, osTimerDef_t *, os_timer_type, void *, RET_pointer)
emilmont 6:350b53afb889 865 SVC_2_1(svcTimerStart, osStatus, osTimerId, uint32_t, RET_osStatus)
emilmont 6:350b53afb889 866 SVC_1_1(svcTimerStop, osStatus, osTimerId, RET_osStatus)
emilmont 6:350b53afb889 867 SVC_1_1(svcTimerDelete, osStatus, osTimerId, RET_osStatus)
emilmont 6:350b53afb889 868 SVC_1_2(svcTimerCall, os_InRegs osCallback, osTimerId, RET_osCallback)
emilmont 6:350b53afb889 869
emilmont 6:350b53afb889 870 // Timer Management Service Calls
emilmont 6:350b53afb889 871
emilmont 6:350b53afb889 872 /// Create timer
emilmont 6:350b53afb889 873 osTimerId svcTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) {
emilmont 6:350b53afb889 874 os_timer_cb *pt;
emilmont 6:350b53afb889 875
emilmont 6:350b53afb889 876 if ((timer_def == NULL) || (timer_def->ptimer == NULL)) {
emilmont 6:350b53afb889 877 sysThreadError(osErrorParameter);
emilmont 6:350b53afb889 878 return NULL;
emilmont 6:350b53afb889 879 }
emilmont 6:350b53afb889 880
emilmont 6:350b53afb889 881 pt = timer_def->timer;
emilmont 6:350b53afb889 882 if (pt == NULL) {
emilmont 6:350b53afb889 883 sysThreadError(osErrorParameter);
emilmont 6:350b53afb889 884 return NULL;
emilmont 6:350b53afb889 885 }
emilmont 6:350b53afb889 886
emilmont 6:350b53afb889 887 if ((type != osTimerOnce) && (type != osTimerPeriodic)) {
emilmont 6:350b53afb889 888 sysThreadError(osErrorValue);
emilmont 6:350b53afb889 889 return NULL;
emilmont 6:350b53afb889 890 }
emilmont 6:350b53afb889 891
emilmont 6:350b53afb889 892 if (osThreadId_osTimerThread == NULL) {
emilmont 6:350b53afb889 893 sysThreadError(osErrorResource);
emilmont 6:350b53afb889 894 return NULL;
emilmont 6:350b53afb889 895 }
emilmont 6:350b53afb889 896
emilmont 6:350b53afb889 897 if (pt->state != osTimerInvalid){
emilmont 6:350b53afb889 898 sysThreadError(osErrorResource);
emilmont 6:350b53afb889 899 return NULL;
emilmont 6:350b53afb889 900 }
emilmont 6:350b53afb889 901
emilmont 6:350b53afb889 902 pt->state = osTimerStopped;
emilmont 6:350b53afb889 903 pt->type = (uint8_t)type;
emilmont 6:350b53afb889 904 pt->arg = argument;
emilmont 6:350b53afb889 905 pt->timer = timer_def;
emilmont 6:350b53afb889 906
emilmont 6:350b53afb889 907 return (osTimerId)pt;
emilmont 6:350b53afb889 908 }
emilmont 6:350b53afb889 909
emilmont 6:350b53afb889 910 /// Start or restart timer
emilmont 6:350b53afb889 911 osStatus svcTimerStart (osTimerId timer_id, uint32_t millisec) {
emilmont 6:350b53afb889 912 os_timer_cb *pt;
emilmont 6:350b53afb889 913 uint32_t tcnt;
emilmont 6:350b53afb889 914
emilmont 6:350b53afb889 915 pt = rt_id2obj(timer_id);
emilmont 6:350b53afb889 916 if (pt == NULL) return osErrorParameter;
emilmont 6:350b53afb889 917
emilmont 6:350b53afb889 918 tcnt = rt_ms2tick(millisec);
emilmont 6:350b53afb889 919 if (tcnt == 0) return osErrorValue;
emilmont 6:350b53afb889 920
emilmont 6:350b53afb889 921 switch (pt->state) {
emilmont 6:350b53afb889 922 case osTimerRunning:
emilmont 6:350b53afb889 923 if (rt_timer_remove(pt) != 0) {
emilmont 6:350b53afb889 924 return osErrorResource;
emilmont 6:350b53afb889 925 }
emilmont 6:350b53afb889 926 break;
emilmont 6:350b53afb889 927 case osTimerStopped:
emilmont 6:350b53afb889 928 pt->state = osTimerRunning;
emilmont 6:350b53afb889 929 pt->icnt = (uint16_t)tcnt;
emilmont 6:350b53afb889 930 break;
emilmont 6:350b53afb889 931 default:
emilmont 6:350b53afb889 932 return osErrorResource;
emilmont 6:350b53afb889 933 }
emilmont 6:350b53afb889 934
emilmont 6:350b53afb889 935 rt_timer_insert(pt, tcnt);
emilmont 6:350b53afb889 936
emilmont 6:350b53afb889 937 return osOK;
emilmont 6:350b53afb889 938 }
emilmont 6:350b53afb889 939
emilmont 6:350b53afb889 940 /// Stop timer
emilmont 6:350b53afb889 941 osStatus svcTimerStop (osTimerId timer_id) {
emilmont 6:350b53afb889 942 os_timer_cb *pt;
emilmont 6:350b53afb889 943
emilmont 6:350b53afb889 944 pt = rt_id2obj(timer_id);
emilmont 6:350b53afb889 945 if (pt == NULL) return osErrorParameter;
emilmont 6:350b53afb889 946
emilmont 6:350b53afb889 947 if (pt->state != osTimerRunning) return osErrorResource;
emilmont 6:350b53afb889 948
emilmont 6:350b53afb889 949 pt->state = osTimerStopped;
emilmont 6:350b53afb889 950
emilmont 6:350b53afb889 951 if (rt_timer_remove(pt) != 0) {
emilmont 6:350b53afb889 952 return osErrorResource;
emilmont 6:350b53afb889 953 }
emilmont 6:350b53afb889 954
emilmont 6:350b53afb889 955 return osOK;
emilmont 6:350b53afb889 956 }
emilmont 6:350b53afb889 957
emilmont 6:350b53afb889 958 /// Delete timer
emilmont 6:350b53afb889 959 osStatus svcTimerDelete (osTimerId timer_id) {
emilmont 6:350b53afb889 960 os_timer_cb *pt;
emilmont 6:350b53afb889 961
emilmont 6:350b53afb889 962 pt = rt_id2obj(timer_id);
emilmont 6:350b53afb889 963 if (pt == NULL) return osErrorParameter;
emilmont 6:350b53afb889 964
emilmont 6:350b53afb889 965 switch (pt->state) {
emilmont 6:350b53afb889 966 case osTimerRunning:
emilmont 6:350b53afb889 967 rt_timer_remove(pt);
emilmont 6:350b53afb889 968 break;
emilmont 6:350b53afb889 969 case osTimerStopped:
emilmont 6:350b53afb889 970 break;
emilmont 6:350b53afb889 971 default:
emilmont 6:350b53afb889 972 return osErrorResource;
emilmont 6:350b53afb889 973 }
emilmont 6:350b53afb889 974
emilmont 6:350b53afb889 975 pt->state = osTimerInvalid;
emilmont 6:350b53afb889 976
emilmont 6:350b53afb889 977 return osOK;
emilmont 6:350b53afb889 978 }
emilmont 6:350b53afb889 979
emilmont 6:350b53afb889 980 /// Get timer callback parameters
emilmont 6:350b53afb889 981 os_InRegs osCallback_type svcTimerCall (osTimerId timer_id) {
emilmont 6:350b53afb889 982 os_timer_cb *pt;
emilmont 6:350b53afb889 983 osCallback ret;
emilmont 6:350b53afb889 984
emilmont 6:350b53afb889 985 pt = rt_id2obj(timer_id);
emilmont 6:350b53afb889 986 if (pt == NULL) {
emilmont 6:350b53afb889 987 ret.fp = NULL;
emilmont 6:350b53afb889 988 ret.arg = NULL;
emilmont 6:350b53afb889 989 return osCallback_ret;
emilmont 6:350b53afb889 990 }
emilmont 6:350b53afb889 991
emilmont 6:350b53afb889 992 ret.fp = (void *)pt->timer->ptimer;
emilmont 6:350b53afb889 993 ret.arg = pt->arg;
emilmont 6:350b53afb889 994
emilmont 6:350b53afb889 995 return osCallback_ret;
emilmont 6:350b53afb889 996 }
emilmont 6:350b53afb889 997
emilmont 6:350b53afb889 998 static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
emilmont 6:350b53afb889 999
emilmont 6:350b53afb889 1000 /// Timer Tick (called each SysTick)
emilmont 6:350b53afb889 1001 void sysTimerTick (void) {
emilmont 6:350b53afb889 1002 os_timer_cb *pt, *p;
emilmont 6:350b53afb889 1003
emilmont 6:350b53afb889 1004 p = os_timer_head;
emilmont 6:350b53afb889 1005 if (p == NULL) return;
emilmont 6:350b53afb889 1006
emilmont 6:350b53afb889 1007 p->tcnt--;
emilmont 6:350b53afb889 1008 while ((p != NULL) && (p->tcnt == 0)) {
emilmont 6:350b53afb889 1009 pt = p;
emilmont 6:350b53afb889 1010 p = p->next;
emilmont 6:350b53afb889 1011 os_timer_head = p;
emilmont 6:350b53afb889 1012 isrMessagePut(osMessageQId_osTimerMessageQ, (uint32_t)pt, 0);
emilmont 6:350b53afb889 1013 if (pt->type == osTimerPeriodic) {
emilmont 6:350b53afb889 1014 rt_timer_insert(pt, pt->icnt);
emilmont 6:350b53afb889 1015 } else {
emilmont 6:350b53afb889 1016 pt->state = osTimerStopped;
emilmont 6:350b53afb889 1017 }
emilmont 6:350b53afb889 1018 }
emilmont 6:350b53afb889 1019 }
emilmont 6:350b53afb889 1020
emilmont 6:350b53afb889 1021
emilmont 6:350b53afb889 1022 // Timer Management Public API
emilmont 6:350b53afb889 1023
emilmont 6:350b53afb889 1024 /// Create timer
emilmont 6:350b53afb889 1025 osTimerId osTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) {
emilmont 6:350b53afb889 1026 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
emilmont 6:350b53afb889 1027 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
emilmont 6:350b53afb889 1028 // Privileged and not running
emilmont 6:350b53afb889 1029 return svcTimerCreate(timer_def, type, argument);
emilmont 6:350b53afb889 1030 } else {
emilmont 6:350b53afb889 1031 return __svcTimerCreate(timer_def, type, argument);
emilmont 6:350b53afb889 1032 }
emilmont 6:350b53afb889 1033 }
emilmont 6:350b53afb889 1034
emilmont 6:350b53afb889 1035 /// Start or restart timer
emilmont 6:350b53afb889 1036 osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
emilmont 6:350b53afb889 1037 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
emilmont 6:350b53afb889 1038 return __svcTimerStart(timer_id, millisec);
emilmont 6:350b53afb889 1039 }
emilmont 6:350b53afb889 1040
emilmont 6:350b53afb889 1041 /// Stop timer
emilmont 6:350b53afb889 1042 osStatus osTimerStop (osTimerId timer_id) {
emilmont 6:350b53afb889 1043 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
emilmont 6:350b53afb889 1044 return __svcTimerStop(timer_id);
emilmont 6:350b53afb889 1045 }
emilmont 6:350b53afb889 1046
emilmont 6:350b53afb889 1047 /// Delete timer
emilmont 6:350b53afb889 1048 osStatus osTimerDelete (osTimerId timer_id) {
emilmont 6:350b53afb889 1049 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
emilmont 6:350b53afb889 1050 return __svcTimerDelete(timer_id);
emilmont 6:350b53afb889 1051 }
emilmont 6:350b53afb889 1052
emilmont 6:350b53afb889 1053 /// INTERNAL - Not Public
emilmont 6:350b53afb889 1054 /// Get timer callback parameters (used by OS Timer Thread)
emilmont 6:350b53afb889 1055 os_InRegs osCallback osTimerCall (osTimerId timer_id) {
emilmont 6:350b53afb889 1056 return __svcTimerCall(timer_id);
emilmont 6:350b53afb889 1057 }
emilmont 6:350b53afb889 1058
emilmont 6:350b53afb889 1059
emilmont 6:350b53afb889 1060 // Timer Thread
emilmont 6:350b53afb889 1061 __NO_RETURN void osTimerThread (void const *argument) {
emilmont 6:350b53afb889 1062 osCallback cb;
emilmont 6:350b53afb889 1063 osEvent evt;
emilmont 6:350b53afb889 1064
emilmont 6:350b53afb889 1065 for (;;) {
emilmont 6:350b53afb889 1066 evt = osMessageGet(osMessageQId_osTimerMessageQ, osWaitForever);
emilmont 6:350b53afb889 1067 if (evt.status == osEventMessage) {
emilmont 6:350b53afb889 1068 cb = osTimerCall(evt.value.p);
emilmont 6:350b53afb889 1069 if (cb.fp != NULL) {
emilmont 6:350b53afb889 1070 (*(os_ptimer)cb.fp)(cb.arg);
emilmont 6:350b53afb889 1071 }
emilmont 6:350b53afb889 1072 }
emilmont 6:350b53afb889 1073 }
emilmont 6:350b53afb889 1074 }
emilmont 6:350b53afb889 1075
emilmont 6:350b53afb889 1076
emilmont 6:350b53afb889 1077 // ==== Signal Management ====
emilmont 6:350b53afb889 1078
emilmont 6:350b53afb889 1079 // Signal Service Calls declarations
emilmont 6:350b53afb889 1080 SVC_2_1(svcSignalSet, int32_t, osThreadId, int32_t, RET_int32_t)
emilmont 6:350b53afb889 1081 SVC_2_1(svcSignalClear, int32_t, osThreadId, int32_t, RET_int32_t)
emilmont 6:350b53afb889 1082 SVC_1_1(svcSignalGet, int32_t, osThreadId, RET_int32_t)
emilmont 6:350b53afb889 1083 SVC_2_3(svcSignalWait, os_InRegs osEvent, int32_t, uint32_t, RET_osEvent)
emilmont 6:350b53afb889 1084
emilmont 6:350b53afb889 1085 // Signal Service Calls
emilmont 6:350b53afb889 1086
emilmont 6:350b53afb889 1087 /// Set the specified Signal Flags of an active thread
emilmont 6:350b53afb889 1088 int32_t svcSignalSet (osThreadId thread_id, int32_t signals) {
emilmont 6:350b53afb889 1089 P_TCB ptcb;
emilmont 6:350b53afb889 1090 int32_t sig;
emilmont 6:350b53afb889 1091
emilmont 6:350b53afb889 1092 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
emilmont 6:350b53afb889 1093 if (ptcb == NULL) return 0x80000000;
emilmont 6:350b53afb889 1094
emilmont 6:350b53afb889 1095 if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
emilmont 6:350b53afb889 1096
emilmont 6:350b53afb889 1097 sig = ptcb->events; // Previous signal flags
emilmont 6:350b53afb889 1098
emilmont 6:350b53afb889 1099 rt_evt_set(signals, ptcb->task_id); // Set event flags
emilmont 6:350b53afb889 1100
emilmont 6:350b53afb889 1101 return sig;
emilmont 6:350b53afb889 1102 }
emilmont 6:350b53afb889 1103
emilmont 6:350b53afb889 1104 /// Clear the specified Signal Flags of an active thread
emilmont 6:350b53afb889 1105 int32_t svcSignalClear (osThreadId thread_id, int32_t signals) {
emilmont 6:350b53afb889 1106 P_TCB ptcb;
emilmont 6:350b53afb889 1107 int32_t sig;
emilmont 6:350b53afb889 1108
emilmont 6:350b53afb889 1109 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
emilmont 6:350b53afb889 1110 if (ptcb == NULL) return 0x80000000;
emilmont 6:350b53afb889 1111
emilmont 6:350b53afb889 1112 if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
emilmont 6:350b53afb889 1113
emilmont 6:350b53afb889 1114 sig = ptcb->events; // Previous signal flags
emilmont 6:350b53afb889 1115
emilmont 6:350b53afb889 1116 rt_evt_clr(signals, ptcb->task_id); // Clear event flags
emilmont 6:350b53afb889 1117
emilmont 6:350b53afb889 1118 return sig;
emilmont 6:350b53afb889 1119 }
emilmont 6:350b53afb889 1120
emilmont 6:350b53afb889 1121 /// Get Signal Flags status of an active thread
emilmont 6:350b53afb889 1122 int32_t svcSignalGet (osThreadId thread_id) {
emilmont 6:350b53afb889 1123 P_TCB ptcb;
emilmont 6:350b53afb889 1124
emilmont 6:350b53afb889 1125 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
emilmont 6:350b53afb889 1126 if (ptcb == NULL) return 0x80000000;
emilmont 6:350b53afb889 1127
emilmont 6:350b53afb889 1128 return ptcb->events; // Return event flags
emilmont 6:350b53afb889 1129 }
emilmont 6:350b53afb889 1130
emilmont 6:350b53afb889 1131 /// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
emilmont 6:350b53afb889 1132 os_InRegs osEvent_type svcSignalWait (int32_t signals, uint32_t millisec) {
emilmont 6:350b53afb889 1133 OS_RESULT res;
emilmont 6:350b53afb889 1134 osEvent ret;
emilmont 6:350b53afb889 1135
emilmont 6:350b53afb889 1136 if (signals & (0xFFFFFFFF << osFeature_Signals)) {
emilmont 6:350b53afb889 1137 ret.status = osErrorValue;
emilmont 6:350b53afb889 1138 return osEvent_ret_status;
emilmont 6:350b53afb889 1139 }
emilmont 6:350b53afb889 1140
emilmont 6:350b53afb889 1141 if (signals != 0) { // Wait for all specified signals
emilmont 6:350b53afb889 1142 res = rt_evt_wait(signals, rt_ms2tick(millisec), __TRUE);
emilmont 6:350b53afb889 1143 } else { // Wait for any signal
emilmont 6:350b53afb889 1144 res = rt_evt_wait(0xFFFF, rt_ms2tick(millisec), __FALSE);
emilmont 6:350b53afb889 1145 }
emilmont 6:350b53afb889 1146
emilmont 6:350b53afb889 1147 if (res == OS_R_EVT) {
emilmont 6:350b53afb889 1148 ret.status = osEventSignal;
emilmont 6:350b53afb889 1149 ret.value.signals = signals ? signals : os_tsk.run->waits;
emilmont 6:350b53afb889 1150 } else {
emilmont 6:350b53afb889 1151 ret.status = millisec ? osEventTimeout : osOK;
emilmont 6:350b53afb889 1152 ret.value.signals = 0;
emilmont 6:350b53afb889 1153 }
emilmont 6:350b53afb889 1154
emilmont 6:350b53afb889 1155 return osEvent_ret_value;
emilmont 6:350b53afb889 1156 }
emilmont 6:350b53afb889 1157
emilmont 6:350b53afb889 1158
emilmont 6:350b53afb889 1159 // Signal ISR Calls
emilmont 6:350b53afb889 1160
emilmont 6:350b53afb889 1161 /// Set the specified Signal Flags of an active thread
emilmont 6:350b53afb889 1162 static __INLINE int32_t isrSignalSet (osThreadId thread_id, int32_t signals) {
emilmont 6:350b53afb889 1163 P_TCB ptcb;
emilmont 6:350b53afb889 1164 int32_t sig;
emilmont 6:350b53afb889 1165
emilmont 6:350b53afb889 1166 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
emilmont 6:350b53afb889 1167 if (ptcb == NULL) return 0x80000000;
emilmont 6:350b53afb889 1168
emilmont 6:350b53afb889 1169 if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
emilmont 6:350b53afb889 1170
emilmont 6:350b53afb889 1171 sig = ptcb->events; // Previous signal flags
emilmont 6:350b53afb889 1172
emilmont 6:350b53afb889 1173 isr_evt_set(signals, ptcb->task_id); // Set event flags
emilmont 6:350b53afb889 1174
emilmont 6:350b53afb889 1175 return sig;
emilmont 6:350b53afb889 1176 }
emilmont 6:350b53afb889 1177
emilmont 6:350b53afb889 1178
emilmont 6:350b53afb889 1179 // Signal Public API
emilmont 6:350b53afb889 1180
emilmont 6:350b53afb889 1181 /// Set the specified Signal Flags of an active thread
emilmont 6:350b53afb889 1182 int32_t osSignalSet (osThreadId thread_id, int32_t signals) {
emilmont 6:350b53afb889 1183 if (__get_IPSR() != 0) { // in ISR
emilmont 6:350b53afb889 1184 return isrSignalSet(thread_id, signals);
emilmont 6:350b53afb889 1185 } else { // in Thread
emilmont 6:350b53afb889 1186 return __svcSignalSet(thread_id, signals);
emilmont 6:350b53afb889 1187 }
emilmont 6:350b53afb889 1188 }
emilmont 6:350b53afb889 1189
emilmont 6:350b53afb889 1190 /// Clear the specified Signal Flags of an active thread
emilmont 6:350b53afb889 1191 int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
emilmont 6:350b53afb889 1192 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
emilmont 6:350b53afb889 1193 return __svcSignalClear(thread_id, signals);
emilmont 6:350b53afb889 1194 }
emilmont 6:350b53afb889 1195
emilmont 6:350b53afb889 1196 /// Get Signal Flags status of an active thread
emilmont 6:350b53afb889 1197 int32_t osSignalGet (osThreadId thread_id) {
emilmont 6:350b53afb889 1198 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
emilmont 6:350b53afb889 1199 return __svcSignalGet(thread_id);
emilmont 6:350b53afb889 1200 }
emilmont 6:350b53afb889 1201
emilmont 6:350b53afb889 1202 /// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
emilmont 6:350b53afb889 1203 os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) {
emilmont 6:350b53afb889 1204 osEvent ret;
emilmont 6:350b53afb889 1205
emilmont 6:350b53afb889 1206 if (__get_IPSR() != 0) { // Not allowed in ISR
emilmont 6:350b53afb889 1207 ret.status = osErrorISR;
emilmont 6:350b53afb889 1208 return ret;
emilmont 6:350b53afb889 1209 }
emilmont 6:350b53afb889 1210 return __svcSignalWait(signals, millisec);
emilmont 6:350b53afb889 1211 }
emilmont 6:350b53afb889 1212
emilmont 6:350b53afb889 1213
emilmont 6:350b53afb889 1214 // ==== Mutex Management ====
emilmont 6:350b53afb889 1215
emilmont 6:350b53afb889 1216 // Mutex Service Calls declarations
emilmont 6:350b53afb889 1217 SVC_1_1(svcMutexCreate, osMutexId, osMutexDef_t *, RET_pointer)
emilmont 6:350b53afb889 1218 SVC_2_1(svcMutexWait, osStatus, osMutexId, uint32_t, RET_osStatus)
emilmont 6:350b53afb889 1219 SVC_1_1(svcMutexRelease, osStatus, osMutexId, RET_osStatus)
emilmont 6:350b53afb889 1220 SVC_1_1(svcMutexDelete, osStatus, osMutexId, RET_osStatus)
emilmont 6:350b53afb889 1221
emilmont 6:350b53afb889 1222 // Mutex Service Calls
emilmont 6:350b53afb889 1223
emilmont 6:350b53afb889 1224 /// Create and Initialize a Mutex object
emilmont 6:350b53afb889 1225 osMutexId svcMutexCreate (osMutexDef_t *mutex_def) {
emilmont 6:350b53afb889 1226 OS_ID mut;
emilmont 6:350b53afb889 1227
emilmont 6:350b53afb889 1228 if (mutex_def == NULL) {
emilmont 6:350b53afb889 1229 sysThreadError(osErrorParameter);
emilmont 6:350b53afb889 1230 return NULL;
emilmont 6:350b53afb889 1231 }
emilmont 6:350b53afb889 1232
emilmont 6:350b53afb889 1233 mut = mutex_def->mutex;
emilmont 6:350b53afb889 1234 if (mut == NULL) {
emilmont 6:350b53afb889 1235 sysThreadError(osErrorParameter);
emilmont 6:350b53afb889 1236 return NULL;
emilmont 6:350b53afb889 1237 }
emilmont 6:350b53afb889 1238
emilmont 6:350b53afb889 1239 if (((P_MUCB)mut)->cb_type != 0) {
emilmont 6:350b53afb889 1240 sysThreadError(osErrorParameter);
emilmont 6:350b53afb889 1241 return NULL;
emilmont 6:350b53afb889 1242 }
emilmont 6:350b53afb889 1243
emilmont 6:350b53afb889 1244 rt_mut_init(mut); // Initialize Mutex
emilmont 6:350b53afb889 1245
emilmont 6:350b53afb889 1246 return mut;
emilmont 6:350b53afb889 1247 }
emilmont 6:350b53afb889 1248
emilmont 6:350b53afb889 1249 /// Wait until a Mutex becomes available
emilmont 6:350b53afb889 1250 osStatus svcMutexWait (osMutexId mutex_id, uint32_t millisec) {
emilmont 6:350b53afb889 1251 OS_ID mut;
emilmont 6:350b53afb889 1252 OS_RESULT res;
emilmont 6:350b53afb889 1253
emilmont 6:350b53afb889 1254 mut = rt_id2obj(mutex_id);
emilmont 6:350b53afb889 1255 if (mut == NULL) return osErrorParameter;
emilmont 6:350b53afb889 1256
emilmont 6:350b53afb889 1257 if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
emilmont 6:350b53afb889 1258
emilmont 6:350b53afb889 1259 res = rt_mut_wait(mut, rt_ms2tick(millisec)); // Wait for Mutex
emilmont 6:350b53afb889 1260
emilmont 6:350b53afb889 1261 if (res == OS_R_TMO) {
emilmont 6:350b53afb889 1262 return (millisec ? osErrorTimeoutResource : osErrorResource);
emilmont 6:350b53afb889 1263 }
emilmont 6:350b53afb889 1264
emilmont 6:350b53afb889 1265 return osOK;
emilmont 6:350b53afb889 1266 }
emilmont 6:350b53afb889 1267
emilmont 6:350b53afb889 1268 /// Release a Mutex that was obtained with osMutexWait
emilmont 6:350b53afb889 1269 osStatus svcMutexRelease (osMutexId mutex_id) {
emilmont 6:350b53afb889 1270 OS_ID mut;
emilmont 6:350b53afb889 1271 OS_RESULT res;
emilmont 6:350b53afb889 1272
emilmont 6:350b53afb889 1273 mut = rt_id2obj(mutex_id);
emilmont 6:350b53afb889 1274 if (mut == NULL) return osErrorParameter;
emilmont 6:350b53afb889 1275
emilmont 6:350b53afb889 1276 if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
emilmont 6:350b53afb889 1277
emilmont 6:350b53afb889 1278 res = rt_mut_release(mut); // Release Mutex
emilmont 6:350b53afb889 1279
emilmont 6:350b53afb889 1280 if (res == OS_R_NOK) return osErrorResource; // Thread not owner or Zero Counter
emilmont 6:350b53afb889 1281
emilmont 6:350b53afb889 1282 return osOK;
emilmont 6:350b53afb889 1283 }
emilmont 6:350b53afb889 1284
emilmont 6:350b53afb889 1285 /// Delete a Mutex that was created by osMutexCreate
emilmont 6:350b53afb889 1286 osStatus svcMutexDelete (osMutexId mutex_id) {
emilmont 6:350b53afb889 1287 OS_ID mut;
emilmont 6:350b53afb889 1288
emilmont 6:350b53afb889 1289 mut = rt_id2obj(mutex_id);
emilmont 6:350b53afb889 1290 if (mut == NULL) return osErrorParameter;
emilmont 6:350b53afb889 1291
emilmont 6:350b53afb889 1292 if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
emilmont 6:350b53afb889 1293
emilmont 6:350b53afb889 1294 rt_mut_delete(mut); // Release Mutex
emilmont 6:350b53afb889 1295
emilmont 6:350b53afb889 1296 return osOK;
emilmont 6:350b53afb889 1297 }
emilmont 6:350b53afb889 1298
emilmont 6:350b53afb889 1299
emilmont 6:350b53afb889 1300 // Mutex Public API
emilmont 6:350b53afb889 1301
emilmont 6:350b53afb889 1302 /// Create and Initialize a Mutex object
emilmont 6:350b53afb889 1303 osMutexId osMutexCreate (osMutexDef_t *mutex_def) {
emilmont 6:350b53afb889 1304 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
emilmont 6:350b53afb889 1305 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
emilmont 6:350b53afb889 1306 // Privileged and not running
emilmont 6:350b53afb889 1307 return svcMutexCreate(mutex_def);
emilmont 6:350b53afb889 1308 } else {
emilmont 6:350b53afb889 1309 return __svcMutexCreate(mutex_def);
emilmont 6:350b53afb889 1310 }
emilmont 6:350b53afb889 1311 }
emilmont 6:350b53afb889 1312
emilmont 6:350b53afb889 1313 /// Wait until a Mutex becomes available
emilmont 6:350b53afb889 1314 osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
emilmont 6:350b53afb889 1315 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
emilmont 6:350b53afb889 1316 return __svcMutexWait(mutex_id, millisec);
emilmont 6:350b53afb889 1317 }
emilmont 6:350b53afb889 1318
emilmont 6:350b53afb889 1319 /// Release a Mutex that was obtained with osMutexWait
emilmont 6:350b53afb889 1320 osStatus osMutexRelease (osMutexId mutex_id) {
emilmont 6:350b53afb889 1321 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
emilmont 6:350b53afb889 1322 return __svcMutexRelease(mutex_id);
emilmont 6:350b53afb889 1323 }
emilmont 6:350b53afb889 1324
emilmont 6:350b53afb889 1325 /// Delete a Mutex that was created by osMutexCreate
emilmont 6:350b53afb889 1326 osStatus osMutexDelete (osMutexId mutex_id) {
emilmont 6:350b53afb889 1327 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
emilmont 6:350b53afb889 1328 return __svcMutexDelete(mutex_id);
emilmont 6:350b53afb889 1329 }
emilmont 6:350b53afb889 1330
emilmont 6:350b53afb889 1331
emilmont 6:350b53afb889 1332 // ==== Semaphore Management ====
emilmont 6:350b53afb889 1333
emilmont 6:350b53afb889 1334 // Semaphore Service Calls declarations
emilmont 6:350b53afb889 1335 SVC_2_1(svcSemaphoreCreate, osSemaphoreId, const osSemaphoreDef_t *, int32_t, RET_pointer)
emilmont 6:350b53afb889 1336 SVC_2_1(svcSemaphoreWait, int32_t, osSemaphoreId, uint32_t, RET_int32_t)
emilmont 6:350b53afb889 1337 SVC_1_1(svcSemaphoreRelease, osStatus, osSemaphoreId, RET_osStatus)
emilmont 6:350b53afb889 1338 SVC_1_1(svcSemaphoreDelete, osStatus, osSemaphoreId, RET_osStatus)
emilmont 6:350b53afb889 1339
emilmont 6:350b53afb889 1340 // Semaphore Service Calls
emilmont 6:350b53afb889 1341
emilmont 6:350b53afb889 1342 /// Create and Initialize a Semaphore object
emilmont 6:350b53afb889 1343 osSemaphoreId svcSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
emilmont 6:350b53afb889 1344 OS_ID sem;
emilmont 6:350b53afb889 1345
emilmont 6:350b53afb889 1346 if (semaphore_def == NULL) {
emilmont 6:350b53afb889 1347 sysThreadError(osErrorParameter);
emilmont 6:350b53afb889 1348 return NULL;
emilmont 6:350b53afb889 1349 }
emilmont 6:350b53afb889 1350
emilmont 6:350b53afb889 1351 sem = semaphore_def->semaphore;
emilmont 6:350b53afb889 1352 if (sem == NULL) {
emilmont 6:350b53afb889 1353 sysThreadError(osErrorParameter);
emilmont 6:350b53afb889 1354 return NULL;
emilmont 6:350b53afb889 1355 }
emilmont 6:350b53afb889 1356
emilmont 6:350b53afb889 1357 if (((P_SCB)sem)->cb_type != 0) {
emilmont 6:350b53afb889 1358 sysThreadError(osErrorParameter);
emilmont 6:350b53afb889 1359 return NULL;
emilmont 6:350b53afb889 1360 }
emilmont 6:350b53afb889 1361
emilmont 6:350b53afb889 1362 if (count > osFeature_Semaphore) {
emilmont 6:350b53afb889 1363 sysThreadError(osErrorValue);
emilmont 6:350b53afb889 1364 return NULL;
emilmont 6:350b53afb889 1365 }
emilmont 6:350b53afb889 1366
emilmont 6:350b53afb889 1367 rt_sem_init(sem, count); // Initialize Semaphore
emilmont 6:350b53afb889 1368
emilmont 6:350b53afb889 1369 return sem;
emilmont 6:350b53afb889 1370 }
emilmont 6:350b53afb889 1371
emilmont 6:350b53afb889 1372 /// Wait until a Semaphore becomes available
emilmont 6:350b53afb889 1373 int32_t svcSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
emilmont 6:350b53afb889 1374 OS_ID sem;
emilmont 6:350b53afb889 1375 OS_RESULT res;
emilmont 6:350b53afb889 1376
emilmont 6:350b53afb889 1377 sem = rt_id2obj(semaphore_id);
emilmont 6:350b53afb889 1378 if (sem == NULL) return -1;
emilmont 6:350b53afb889 1379
emilmont 6:350b53afb889 1380 if (((P_SCB)sem)->cb_type != SCB) return -1;
emilmont 6:350b53afb889 1381
emilmont 6:350b53afb889 1382 res = rt_sem_wait(sem, rt_ms2tick(millisec)); // Wait for Semaphore
emilmont 6:350b53afb889 1383
emilmont 6:350b53afb889 1384 if (res == OS_R_TMO) return 0; // Timeout
emilmont 6:350b53afb889 1385
emilmont 6:350b53afb889 1386 return (((P_SCB)sem)->tokens + 1);
emilmont 6:350b53afb889 1387 }
emilmont 6:350b53afb889 1388
emilmont 6:350b53afb889 1389 /// Release a Semaphore
emilmont 6:350b53afb889 1390 osStatus svcSemaphoreRelease (osSemaphoreId semaphore_id) {
emilmont 6:350b53afb889 1391 OS_ID sem;
emilmont 6:350b53afb889 1392
emilmont 6:350b53afb889 1393 sem = rt_id2obj(semaphore_id);
emilmont 6:350b53afb889 1394 if (sem == NULL) return osErrorParameter;
emilmont 6:350b53afb889 1395
emilmont 6:350b53afb889 1396 if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
emilmont 6:350b53afb889 1397
emilmont 6:350b53afb889 1398 if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
emilmont 6:350b53afb889 1399
emilmont 6:350b53afb889 1400 rt_sem_send(sem); // Release Semaphore
emilmont 6:350b53afb889 1401
emilmont 6:350b53afb889 1402 return osOK;
emilmont 6:350b53afb889 1403 }
emilmont 6:350b53afb889 1404
emilmont 6:350b53afb889 1405 /// Delete a Semaphore that was created by osSemaphoreCreate
emilmont 6:350b53afb889 1406 osStatus svcSemaphoreDelete (osSemaphoreId semaphore_id) {
emilmont 6:350b53afb889 1407 OS_ID sem;
emilmont 6:350b53afb889 1408
emilmont 6:350b53afb889 1409 sem = rt_id2obj(semaphore_id);
emilmont 6:350b53afb889 1410 if (sem == NULL) return osErrorParameter;
emilmont 6:350b53afb889 1411
emilmont 6:350b53afb889 1412 if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
emilmont 6:350b53afb889 1413
emilmont 6:350b53afb889 1414 rt_sem_delete(sem); // Delete Semaphore
emilmont 6:350b53afb889 1415
emilmont 6:350b53afb889 1416 return osOK;
emilmont 6:350b53afb889 1417 }
emilmont 6:350b53afb889 1418
emilmont 6:350b53afb889 1419
emilmont 6:350b53afb889 1420 // Semaphore ISR Calls
emilmont 6:350b53afb889 1421
emilmont 6:350b53afb889 1422 /// Release a Semaphore
emilmont 6:350b53afb889 1423 static __INLINE osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) {
emilmont 6:350b53afb889 1424 OS_ID sem;
emilmont 6:350b53afb889 1425
emilmont 6:350b53afb889 1426 sem = rt_id2obj(semaphore_id);
emilmont 6:350b53afb889 1427 if (sem == NULL) return osErrorParameter;
emilmont 6:350b53afb889 1428
emilmont 6:350b53afb889 1429 if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
emilmont 6:350b53afb889 1430
emilmont 6:350b53afb889 1431 if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
emilmont 6:350b53afb889 1432
emilmont 6:350b53afb889 1433 isr_sem_send(sem); // Release Semaphore
emilmont 6:350b53afb889 1434
emilmont 6:350b53afb889 1435 return osOK;
emilmont 6:350b53afb889 1436 }
emilmont 6:350b53afb889 1437
emilmont 6:350b53afb889 1438
emilmont 6:350b53afb889 1439 // Semaphore Public API
emilmont 6:350b53afb889 1440
emilmont 6:350b53afb889 1441 /// Create and Initialize a Semaphore object
emilmont 6:350b53afb889 1442 osSemaphoreId osSemaphoreCreate (osSemaphoreDef_t *semaphore_def, int32_t count) {
emilmont 6:350b53afb889 1443 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
emilmont 6:350b53afb889 1444 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
emilmont 6:350b53afb889 1445 // Privileged and not running
emilmont 6:350b53afb889 1446 return svcSemaphoreCreate(semaphore_def, count);
emilmont 6:350b53afb889 1447 } else {
emilmont 6:350b53afb889 1448 return __svcSemaphoreCreate(semaphore_def, count);
emilmont 6:350b53afb889 1449 }
emilmont 6:350b53afb889 1450 }
emilmont 6:350b53afb889 1451
emilmont 6:350b53afb889 1452 /// Wait until a Semaphore becomes available
emilmont 6:350b53afb889 1453 int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
emilmont 6:350b53afb889 1454 if (__get_IPSR() != 0) return -1; // Not allowed in ISR
emilmont 6:350b53afb889 1455 return __svcSemaphoreWait(semaphore_id, millisec);
emilmont 6:350b53afb889 1456 }
emilmont 6:350b53afb889 1457
emilmont 6:350b53afb889 1458 /// Release a Semaphore
emilmont 6:350b53afb889 1459 osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
emilmont 6:350b53afb889 1460 if (__get_IPSR() != 0) { // in ISR
emilmont 6:350b53afb889 1461 return isrSemaphoreRelease(semaphore_id);
emilmont 6:350b53afb889 1462 } else { // in Thread
emilmont 6:350b53afb889 1463 return __svcSemaphoreRelease(semaphore_id);
emilmont 6:350b53afb889 1464 }
emilmont 6:350b53afb889 1465 }
emilmont 6:350b53afb889 1466
emilmont 6:350b53afb889 1467 /// Delete a Semaphore that was created by osSemaphoreCreate
emilmont 6:350b53afb889 1468 osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
emilmont 6:350b53afb889 1469 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
emilmont 6:350b53afb889 1470 return __svcSemaphoreDelete(semaphore_id);
emilmont 6:350b53afb889 1471 }
emilmont 6:350b53afb889 1472
emilmont 6:350b53afb889 1473
emilmont 6:350b53afb889 1474 // ==== Memory Management Functions ====
emilmont 6:350b53afb889 1475
emilmont 6:350b53afb889 1476 // Memory Management Helper Functions
emilmont 6:350b53afb889 1477
emilmont 6:350b53afb889 1478 // Clear Memory Box (Zero init)
emilmont 6:350b53afb889 1479 static void rt_clr_box (void *box_mem, void *box) {
emilmont 6:350b53afb889 1480 uint32_t *p, n;
emilmont 6:350b53afb889 1481
emilmont 6:350b53afb889 1482 if (box) {
emilmont 6:350b53afb889 1483 p = box;
emilmont 6:350b53afb889 1484 for (n = ((P_BM)box_mem)->blk_size; n; n -= 4) {
emilmont 6:350b53afb889 1485 *p++ = 0;
emilmont 6:350b53afb889 1486 }
emilmont 6:350b53afb889 1487 }
emilmont 6:350b53afb889 1488 }
emilmont 6:350b53afb889 1489
emilmont 6:350b53afb889 1490 // Memory Management Service Calls declarations
emilmont 6:350b53afb889 1491 SVC_1_1(svcPoolCreate, osPoolId, const osPoolDef_t *, RET_pointer)
emilmont 6:350b53afb889 1492 SVC_2_1(sysPoolAlloc, void *, osPoolId, uint32_t, RET_pointer)
emilmont 6:350b53afb889 1493 SVC_2_1(sysPoolFree, osStatus, osPoolId, void *, RET_osStatus)
emilmont 6:350b53afb889 1494
emilmont 6:350b53afb889 1495 // Memory Management Service & ISR Calls
emilmont 6:350b53afb889 1496
emilmont 6:350b53afb889 1497 /// Create and Initialize memory pool
emilmont 6:350b53afb889 1498 osPoolId svcPoolCreate (const osPoolDef_t *pool_def) {
emilmont 6:350b53afb889 1499 uint32_t blk_sz;
emilmont 6:350b53afb889 1500
emilmont 6:350b53afb889 1501 if ((pool_def == NULL) ||
emilmont 6:350b53afb889 1502 (pool_def->pool_sz == 0) ||
emilmont 6:350b53afb889 1503 (pool_def->item_sz == 0) ||
emilmont 6:350b53afb889 1504 (pool_def->pool == NULL)) {
emilmont 6:350b53afb889 1505 sysThreadError(osErrorParameter);
emilmont 6:350b53afb889 1506 return NULL;
emilmont 6:350b53afb889 1507 }
emilmont 6:350b53afb889 1508
emilmont 6:350b53afb889 1509 blk_sz = (pool_def->item_sz + 3) & ~3;
emilmont 6:350b53afb889 1510
emilmont 6:350b53afb889 1511 _init_box(pool_def->pool, sizeof(struct OS_BM) + pool_def->pool_sz * blk_sz, blk_sz);
emilmont 6:350b53afb889 1512
emilmont 6:350b53afb889 1513 return pool_def->pool;
emilmont 6:350b53afb889 1514 }
emilmont 6:350b53afb889 1515
emilmont 6:350b53afb889 1516 /// Allocate a memory block from a memory pool
emilmont 6:350b53afb889 1517 void *sysPoolAlloc (osPoolId pool_id, uint32_t clr) {
emilmont 6:350b53afb889 1518 void *ptr;
emilmont 6:350b53afb889 1519
emilmont 6:350b53afb889 1520 if (pool_id == NULL) return NULL;
emilmont 6:350b53afb889 1521
emilmont 6:350b53afb889 1522 ptr = rt_alloc_box(pool_id);
emilmont 6:350b53afb889 1523 if (clr) {
emilmont 6:350b53afb889 1524 rt_clr_box(pool_id, ptr);
emilmont 6:350b53afb889 1525 }
emilmont 6:350b53afb889 1526
emilmont 6:350b53afb889 1527 return ptr;
emilmont 6:350b53afb889 1528 }
emilmont 6:350b53afb889 1529
emilmont 6:350b53afb889 1530 /// Return an allocated memory block back to a specific memory pool
emilmont 6:350b53afb889 1531 osStatus sysPoolFree (osPoolId pool_id, void *block) {
emilmont 6:350b53afb889 1532 int32_t res;
emilmont 6:350b53afb889 1533
emilmont 6:350b53afb889 1534 if (pool_id == NULL) return osErrorParameter;
emilmont 6:350b53afb889 1535
emilmont 6:350b53afb889 1536 res = rt_free_box(pool_id, block);
emilmont 6:350b53afb889 1537 if (res != 0) return osErrorValue;
emilmont 6:350b53afb889 1538
emilmont 6:350b53afb889 1539 return osOK;
emilmont 6:350b53afb889 1540 }
emilmont 6:350b53afb889 1541
emilmont 6:350b53afb889 1542
emilmont 6:350b53afb889 1543 // Memory Management Public API
emilmont 6:350b53afb889 1544
emilmont 6:350b53afb889 1545 /// Create and Initialize memory pool
emilmont 6:350b53afb889 1546 osPoolId osPoolCreate (osPoolDef_t *pool_def) {
emilmont 6:350b53afb889 1547 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
emilmont 6:350b53afb889 1548 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
emilmont 6:350b53afb889 1549 // Privileged and not running
emilmont 6:350b53afb889 1550 return svcPoolCreate(pool_def);
emilmont 6:350b53afb889 1551 } else {
emilmont 6:350b53afb889 1552 return __svcPoolCreate(pool_def);
emilmont 6:350b53afb889 1553 }
emilmont 6:350b53afb889 1554 }
emilmont 6:350b53afb889 1555
emilmont 6:350b53afb889 1556 /// Allocate a memory block from a memory pool
emilmont 6:350b53afb889 1557 void *osPoolAlloc (osPoolId pool_id) {
emilmont 6:350b53afb889 1558 if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
emilmont 6:350b53afb889 1559 return sysPoolAlloc(pool_id, 0);
emilmont 6:350b53afb889 1560 } else { // in Thread
emilmont 6:350b53afb889 1561 return __sysPoolAlloc(pool_id, 0);
emilmont 6:350b53afb889 1562 }
emilmont 6:350b53afb889 1563 }
emilmont 6:350b53afb889 1564
emilmont 6:350b53afb889 1565 /// Allocate a memory block from a memory pool and set memory block to zero
emilmont 6:350b53afb889 1566 void *osPoolCAlloc (osPoolId pool_id) {
emilmont 6:350b53afb889 1567 if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
emilmont 6:350b53afb889 1568 return sysPoolAlloc(pool_id, 1);
emilmont 6:350b53afb889 1569 } else { // in Thread
emilmont 6:350b53afb889 1570 return __sysPoolAlloc(pool_id, 1);
emilmont 6:350b53afb889 1571 }
emilmont 6:350b53afb889 1572 }
emilmont 6:350b53afb889 1573
emilmont 6:350b53afb889 1574 /// Return an allocated memory block back to a specific memory pool
emilmont 6:350b53afb889 1575 osStatus osPoolFree (osPoolId pool_id, void *block) {
emilmont 6:350b53afb889 1576 if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
emilmont 6:350b53afb889 1577 return sysPoolFree(pool_id, block);
emilmont 6:350b53afb889 1578 } else { // in Thread
emilmont 6:350b53afb889 1579 return __sysPoolFree(pool_id, block);
emilmont 6:350b53afb889 1580 }
emilmont 6:350b53afb889 1581 }
emilmont 6:350b53afb889 1582
emilmont 6:350b53afb889 1583
emilmont 6:350b53afb889 1584 // ==== Message Queue Management Functions ====
emilmont 6:350b53afb889 1585
emilmont 6:350b53afb889 1586 // Message Queue Management Service Calls declarations
emilmont 6:350b53afb889 1587 SVC_2_1(svcMessageCreate, osMessageQId, osMessageQDef_t *, osThreadId, RET_pointer)
emilmont 6:350b53afb889 1588 SVC_3_1(svcMessagePut, osStatus, osMessageQId, uint32_t, uint32_t, RET_osStatus)
emilmont 6:350b53afb889 1589 SVC_2_3(svcMessageGet, os_InRegs osEvent, osMessageQId, uint32_t, RET_osEvent)
emilmont 6:350b53afb889 1590
emilmont 6:350b53afb889 1591 // Message Queue Service Calls
emilmont 6:350b53afb889 1592
emilmont 6:350b53afb889 1593 /// Create and Initialize Message Queue
emilmont 6:350b53afb889 1594 osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
emilmont 6:350b53afb889 1595
emilmont 6:350b53afb889 1596 if ((queue_def == NULL) ||
emilmont 6:350b53afb889 1597 (queue_def->queue_sz == 0) ||
emilmont 6:350b53afb889 1598 (queue_def->pool == NULL)) {
emilmont 6:350b53afb889 1599 sysThreadError(osErrorParameter);
emilmont 6:350b53afb889 1600 return NULL;
emilmont 6:350b53afb889 1601 }
emilmont 6:350b53afb889 1602
emilmont 6:350b53afb889 1603 if (((P_MCB)queue_def->pool)->cb_type != 0) {
emilmont 6:350b53afb889 1604 sysThreadError(osErrorParameter);
emilmont 6:350b53afb889 1605 return NULL;
emilmont 6:350b53afb889 1606 }
emilmont 6:350b53afb889 1607
emilmont 6:350b53afb889 1608 rt_mbx_init(queue_def->pool, 4*(queue_def->queue_sz + 4));
emilmont 6:350b53afb889 1609
emilmont 6:350b53afb889 1610 return queue_def->pool;
emilmont 6:350b53afb889 1611 }
emilmont 6:350b53afb889 1612
emilmont 6:350b53afb889 1613 /// Put a Message to a Queue
emilmont 6:350b53afb889 1614 osStatus svcMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
emilmont 6:350b53afb889 1615 OS_RESULT res;
emilmont 6:350b53afb889 1616
emilmont 6:350b53afb889 1617 if (queue_id == NULL) return osErrorParameter;
emilmont 6:350b53afb889 1618
emilmont 6:350b53afb889 1619 if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
emilmont 6:350b53afb889 1620
emilmont 6:350b53afb889 1621 res = rt_mbx_send(queue_id, (void *)info, rt_ms2tick(millisec));
emilmont 6:350b53afb889 1622
emilmont 6:350b53afb889 1623 if (res == OS_R_TMO) {
emilmont 6:350b53afb889 1624 return (millisec ? osErrorTimeoutResource : osErrorResource);
emilmont 6:350b53afb889 1625 }
emilmont 6:350b53afb889 1626
emilmont 6:350b53afb889 1627 return osOK;
emilmont 6:350b53afb889 1628 }
emilmont 6:350b53afb889 1629
emilmont 6:350b53afb889 1630 /// Get a Message or Wait for a Message from a Queue
emilmont 6:350b53afb889 1631 os_InRegs osEvent_type svcMessageGet (osMessageQId queue_id, uint32_t millisec) {
emilmont 6:350b53afb889 1632 OS_RESULT res;
emilmont 6:350b53afb889 1633 osEvent ret;
emilmont 6:350b53afb889 1634
emilmont 6:350b53afb889 1635 if (queue_id == NULL) {
emilmont 6:350b53afb889 1636 ret.status = osErrorParameter;
emilmont 6:350b53afb889 1637 return osEvent_ret_status;
emilmont 6:350b53afb889 1638 }
emilmont 6:350b53afb889 1639
emilmont 6:350b53afb889 1640 if (((P_MCB)queue_id)->cb_type != MCB) {
emilmont 6:350b53afb889 1641 ret.status = osErrorParameter;
emilmont 6:350b53afb889 1642 return osEvent_ret_status;
emilmont 6:350b53afb889 1643 }
emilmont 6:350b53afb889 1644
emilmont 6:350b53afb889 1645 res = rt_mbx_wait(queue_id, &ret.value.p, rt_ms2tick(millisec));
emilmont 6:350b53afb889 1646
emilmont 6:350b53afb889 1647 if (res == OS_R_TMO) {
emilmont 6:350b53afb889 1648 ret.status = millisec ? osEventTimeout : osOK;
emilmont 6:350b53afb889 1649 return osEvent_ret_value;
emilmont 6:350b53afb889 1650 }
emilmont 6:350b53afb889 1651
emilmont 6:350b53afb889 1652 ret.status = osEventMessage;
emilmont 6:350b53afb889 1653
emilmont 6:350b53afb889 1654 return osEvent_ret_value;
emilmont 6:350b53afb889 1655 }
emilmont 6:350b53afb889 1656
emilmont 6:350b53afb889 1657
emilmont 6:350b53afb889 1658 // Message Queue ISR Calls
emilmont 6:350b53afb889 1659
emilmont 6:350b53afb889 1660 /// Put a Message to a Queue
emilmont 6:350b53afb889 1661 static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
emilmont 6:350b53afb889 1662
emilmont 6:350b53afb889 1663 if ((queue_id == NULL) || (millisec != 0)) {
emilmont 6:350b53afb889 1664 return osErrorParameter;
emilmont 6:350b53afb889 1665 }
emilmont 6:350b53afb889 1666
emilmont 6:350b53afb889 1667 if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
emilmont 6:350b53afb889 1668
emilmont 6:350b53afb889 1669 if (rt_mbx_check(queue_id) == 0) { // Check if Queue is full
emilmont 6:350b53afb889 1670 return osErrorResource;
emilmont 6:350b53afb889 1671 }
emilmont 6:350b53afb889 1672
emilmont 6:350b53afb889 1673 isr_mbx_send(queue_id, (void *)info);
emilmont 6:350b53afb889 1674
emilmont 6:350b53afb889 1675 return osOK;
emilmont 6:350b53afb889 1676 }
emilmont 6:350b53afb889 1677
emilmont 6:350b53afb889 1678 /// Get a Message or Wait for a Message from a Queue
emilmont 6:350b53afb889 1679 static __INLINE os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) {
emilmont 6:350b53afb889 1680 OS_RESULT res;
emilmont 6:350b53afb889 1681 osEvent ret;
emilmont 6:350b53afb889 1682
emilmont 6:350b53afb889 1683 if ((queue_id == NULL) || (millisec != 0)) {
emilmont 6:350b53afb889 1684 ret.status = osErrorParameter;
emilmont 6:350b53afb889 1685 return ret;
emilmont 6:350b53afb889 1686 }
emilmont 6:350b53afb889 1687
emilmont 6:350b53afb889 1688 if (((P_MCB)queue_id)->cb_type != MCB) {
emilmont 6:350b53afb889 1689 ret.status = osErrorParameter;
emilmont 6:350b53afb889 1690 return ret;
emilmont 6:350b53afb889 1691 }
emilmont 6:350b53afb889 1692
emilmont 6:350b53afb889 1693 res = isr_mbx_receive(queue_id, &ret.value.p);
emilmont 6:350b53afb889 1694
emilmont 6:350b53afb889 1695 if (res != OS_R_MBX) {
emilmont 6:350b53afb889 1696 ret.status = osOK;
emilmont 6:350b53afb889 1697 return ret;
emilmont 6:350b53afb889 1698 }
emilmont 6:350b53afb889 1699
emilmont 6:350b53afb889 1700 ret.status = osEventMessage;
emilmont 6:350b53afb889 1701
emilmont 6:350b53afb889 1702 return ret;
emilmont 6:350b53afb889 1703 }
emilmont 6:350b53afb889 1704
emilmont 6:350b53afb889 1705
emilmont 6:350b53afb889 1706 // Message Queue Management Public API
emilmont 6:350b53afb889 1707
emilmont 6:350b53afb889 1708 /// Create and Initialize Message Queue
emilmont 6:350b53afb889 1709 osMessageQId osMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
emilmont 6:350b53afb889 1710 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
emilmont 6:350b53afb889 1711 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
emilmont 6:350b53afb889 1712 // Privileged and not running
emilmont 6:350b53afb889 1713 return svcMessageCreate(queue_def, thread_id);
emilmont 6:350b53afb889 1714 } else {
emilmont 6:350b53afb889 1715 return __svcMessageCreate(queue_def, thread_id);
emilmont 6:350b53afb889 1716 }
emilmont 6:350b53afb889 1717 }
emilmont 6:350b53afb889 1718
emilmont 6:350b53afb889 1719 /// Put a Message to a Queue
emilmont 6:350b53afb889 1720 osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
emilmont 6:350b53afb889 1721 if (__get_IPSR() != 0) { // in ISR
emilmont 6:350b53afb889 1722 return isrMessagePut(queue_id, info, millisec);
emilmont 6:350b53afb889 1723 } else { // in Thread
emilmont 6:350b53afb889 1724 return __svcMessagePut(queue_id, info, millisec);
emilmont 6:350b53afb889 1725 }
emilmont 6:350b53afb889 1726 }
emilmont 6:350b53afb889 1727
emilmont 6:350b53afb889 1728 /// Get a Message or Wait for a Message from a Queue
emilmont 6:350b53afb889 1729 os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) {
emilmont 6:350b53afb889 1730 if (__get_IPSR() != 0) { // in ISR
emilmont 6:350b53afb889 1731 return isrMessageGet(queue_id, millisec);
emilmont 6:350b53afb889 1732 } else { // in Thread
emilmont 6:350b53afb889 1733 return __svcMessageGet(queue_id, millisec);
emilmont 6:350b53afb889 1734 }
emilmont 6:350b53afb889 1735 }
emilmont 6:350b53afb889 1736
emilmont 6:350b53afb889 1737
emilmont 6:350b53afb889 1738 // ==== Mail Queue Management Functions ====
emilmont 6:350b53afb889 1739
emilmont 6:350b53afb889 1740 // Mail Queue Management Service Calls declarations
emilmont 6:350b53afb889 1741 SVC_2_1(svcMailCreate, osMailQId, osMailQDef_t *, osThreadId, RET_pointer)
emilmont 6:350b53afb889 1742 SVC_4_1(sysMailAlloc, void *, osMailQId, uint32_t, uint32_t, uint32_t, RET_pointer)
emilmont 6:350b53afb889 1743 SVC_3_1(sysMailFree, osStatus, osMailQId, void *, uint32_t, RET_osStatus)
emilmont 6:350b53afb889 1744
emilmont 6:350b53afb889 1745 // Mail Queue Management Service & ISR Calls
emilmont 6:350b53afb889 1746
emilmont 6:350b53afb889 1747 /// Create and Initialize mail queue
emilmont 6:350b53afb889 1748 osMailQId svcMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
emilmont 6:350b53afb889 1749 uint32_t blk_sz;
emilmont 6:350b53afb889 1750 P_MCB pmcb;
emilmont 6:350b53afb889 1751 void *pool;
emilmont 6:350b53afb889 1752
emilmont 6:350b53afb889 1753 if ((queue_def == NULL) ||
emilmont 6:350b53afb889 1754 (queue_def->queue_sz == 0) ||
emilmont 6:350b53afb889 1755 (queue_def->item_sz == 0) ||
emilmont 6:350b53afb889 1756 (queue_def->pool == NULL)) {
emilmont 6:350b53afb889 1757 sysThreadError(osErrorParameter);
emilmont 6:350b53afb889 1758 return NULL;
emilmont 6:350b53afb889 1759 }
emilmont 6:350b53afb889 1760
emilmont 6:350b53afb889 1761 pmcb = *(((void **)queue_def->pool) + 0);
emilmont 6:350b53afb889 1762 pool = *(((void **)queue_def->pool) + 1);
emilmont 6:350b53afb889 1763
emilmont 6:350b53afb889 1764 if ((pool == NULL) || (pmcb == NULL) || (pmcb->cb_type != 0)) {
emilmont 6:350b53afb889 1765 sysThreadError(osErrorParameter);
emilmont 6:350b53afb889 1766 return NULL;
emilmont 6:350b53afb889 1767 }
emilmont 6:350b53afb889 1768
emilmont 6:350b53afb889 1769 blk_sz = (queue_def->item_sz + 3) & ~3;
emilmont 6:350b53afb889 1770
emilmont 6:350b53afb889 1771 _init_box(pool, sizeof(struct OS_BM) + queue_def->queue_sz * blk_sz, blk_sz);
emilmont 6:350b53afb889 1772
emilmont 6:350b53afb889 1773 rt_mbx_init(pmcb, 4*(queue_def->queue_sz + 4));
emilmont 6:350b53afb889 1774
emilmont 6:350b53afb889 1775
emilmont 6:350b53afb889 1776 return queue_def->pool;
emilmont 6:350b53afb889 1777 }
emilmont 6:350b53afb889 1778
emilmont 6:350b53afb889 1779 /// Allocate a memory block from a mail
emilmont 6:350b53afb889 1780 void *sysMailAlloc (osMailQId queue_id, uint32_t millisec, uint32_t isr, uint32_t clr) {
emilmont 6:350b53afb889 1781 P_MCB pmcb;
emilmont 6:350b53afb889 1782 void *pool;
emilmont 6:350b53afb889 1783 void *mem;
emilmont 6:350b53afb889 1784
emilmont 6:350b53afb889 1785 if (queue_id == NULL) return NULL;
emilmont 6:350b53afb889 1786
emilmont 6:350b53afb889 1787 pmcb = *(((void **)queue_id) + 0);
emilmont 6:350b53afb889 1788 pool = *(((void **)queue_id) + 1);
emilmont 6:350b53afb889 1789
emilmont 6:350b53afb889 1790 if ((pool == NULL) || (pmcb == NULL)) return NULL;
emilmont 6:350b53afb889 1791
emilmont 6:350b53afb889 1792 if (isr && (millisec != 0)) return NULL;
emilmont 6:350b53afb889 1793
emilmont 6:350b53afb889 1794 mem = rt_alloc_box(pool);
emilmont 6:350b53afb889 1795 if (clr) {
emilmont 6:350b53afb889 1796 rt_clr_box(pool, mem);
emilmont 6:350b53afb889 1797 }
emilmont 6:350b53afb889 1798
emilmont 6:350b53afb889 1799 if ((mem == NULL) && (millisec != 0)) {
emilmont 6:350b53afb889 1800 // Put Task to sleep when Memory not available
emilmont 6:350b53afb889 1801 if (pmcb->p_lnk != NULL) {
emilmont 6:350b53afb889 1802 rt_put_prio((P_XCB)pmcb, os_tsk.run);
emilmont 6:350b53afb889 1803 } else {
emilmont 6:350b53afb889 1804 pmcb->p_lnk = os_tsk.run;
emilmont 6:350b53afb889 1805 os_tsk.run->p_lnk = NULL;
emilmont 6:350b53afb889 1806 os_tsk.run->p_rlnk = (P_TCB)pmcb;
emilmont 6:350b53afb889 1807 // Task is waiting to allocate a message
emilmont 6:350b53afb889 1808 pmcb->state = 3;
emilmont 6:350b53afb889 1809 }
emilmont 6:350b53afb889 1810 rt_block(rt_ms2tick(millisec), WAIT_MBX);
emilmont 6:350b53afb889 1811 }
emilmont 6:350b53afb889 1812
emilmont 6:350b53afb889 1813 return mem;
emilmont 6:350b53afb889 1814 }
emilmont 6:350b53afb889 1815
emilmont 6:350b53afb889 1816 /// Free a memory block from a mail
emilmont 6:350b53afb889 1817 osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) {
emilmont 6:350b53afb889 1818 P_MCB pmcb;
emilmont 6:350b53afb889 1819 P_TCB ptcb;
emilmont 6:350b53afb889 1820 void *pool;
emilmont 6:350b53afb889 1821 void *mem;
emilmont 6:350b53afb889 1822 int32_t res;
emilmont 6:350b53afb889 1823
emilmont 6:350b53afb889 1824 if (queue_id == NULL) return osErrorParameter;
emilmont 6:350b53afb889 1825
emilmont 6:350b53afb889 1826 pmcb = *(((void **)queue_id) + 0);
emilmont 6:350b53afb889 1827 pool = *(((void **)queue_id) + 1);
emilmont 6:350b53afb889 1828
emilmont 6:350b53afb889 1829 if ((pmcb == NULL) || (pool == NULL)) return osErrorParameter;
emilmont 6:350b53afb889 1830
emilmont 6:350b53afb889 1831 res = rt_free_box(pool, mail);
emilmont 6:350b53afb889 1832
emilmont 6:350b53afb889 1833 if (res != 0) return osErrorValue;
emilmont 6:350b53afb889 1834
emilmont 6:350b53afb889 1835 if (pmcb->state == 3) {
emilmont 6:350b53afb889 1836 // Task is waiting to allocate a message
emilmont 6:350b53afb889 1837 if (isr) {
emilmont 6:350b53afb889 1838 rt_psq_enq (pmcb, (U32)pool);
emilmont 6:350b53afb889 1839 rt_psh_req ();
emilmont 6:350b53afb889 1840 } else {
emilmont 6:350b53afb889 1841 mem = rt_alloc_box(pool);
emilmont 6:350b53afb889 1842 if (mem != NULL) {
emilmont 6:350b53afb889 1843 ptcb = rt_get_first((P_XCB)pmcb);
emilmont 6:350b53afb889 1844 if (pmcb->p_lnk == NULL) {
emilmont 6:350b53afb889 1845 pmcb->state = 0;
emilmont 6:350b53afb889 1846 }
emilmont 6:350b53afb889 1847 rt_ret_val(ptcb, (U32)mem);
emilmont 6:350b53afb889 1848 rt_rmv_dly(ptcb);
emilmont 6:350b53afb889 1849 rt_dispatch(ptcb);
emilmont 6:350b53afb889 1850 }
emilmont 6:350b53afb889 1851 }
emilmont 6:350b53afb889 1852 }
emilmont 6:350b53afb889 1853
emilmont 6:350b53afb889 1854 return osOK;
emilmont 6:350b53afb889 1855 }
emilmont 6:350b53afb889 1856
emilmont 6:350b53afb889 1857
emilmont 6:350b53afb889 1858 // Mail Queue Management Public API
emilmont 6:350b53afb889 1859
emilmont 6:350b53afb889 1860 /// Create and Initialize mail queue
emilmont 6:350b53afb889 1861 osMailQId osMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
emilmont 6:350b53afb889 1862 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
emilmont 6:350b53afb889 1863 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
emilmont 6:350b53afb889 1864 // Privileged and not running
emilmont 6:350b53afb889 1865 return svcMailCreate(queue_def, thread_id);
emilmont 6:350b53afb889 1866 } else {
emilmont 6:350b53afb889 1867 return __svcMailCreate(queue_def, thread_id);
emilmont 6:350b53afb889 1868 }
emilmont 6:350b53afb889 1869 }
emilmont 6:350b53afb889 1870
emilmont 6:350b53afb889 1871 /// Allocate a memory block from a mail
emilmont 6:350b53afb889 1872 void *osMailAlloc (osMailQId queue_id, uint32_t millisec) {
emilmont 6:350b53afb889 1873 if (__get_IPSR() != 0) { // in ISR
emilmont 6:350b53afb889 1874 return sysMailAlloc(queue_id, millisec, 1, 0);
emilmont 6:350b53afb889 1875 } else { // in Thread
emilmont 6:350b53afb889 1876 return __sysMailAlloc(queue_id, millisec, 0, 0);
emilmont 6:350b53afb889 1877 }
emilmont 6:350b53afb889 1878 }
emilmont 6:350b53afb889 1879
emilmont 6:350b53afb889 1880 /// Allocate a memory block from a mail and set memory block to zero
emilmont 6:350b53afb889 1881 void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
emilmont 6:350b53afb889 1882 if (__get_IPSR() != 0) { // in ISR
emilmont 6:350b53afb889 1883 return sysMailAlloc(queue_id, millisec, 1, 1);
emilmont 6:350b53afb889 1884 } else { // in Thread
emilmont 6:350b53afb889 1885 return __sysMailAlloc(queue_id, millisec, 0, 1);
emilmont 6:350b53afb889 1886 }
emilmont 6:350b53afb889 1887 }
emilmont 6:350b53afb889 1888
emilmont 6:350b53afb889 1889 /// Free a memory block from a mail
emilmont 6:350b53afb889 1890 osStatus osMailFree (osMailQId queue_id, void *mail) {
emilmont 6:350b53afb889 1891 if (__get_IPSR() != 0) { // in ISR
emilmont 6:350b53afb889 1892 return sysMailFree(queue_id, mail, 1);
emilmont 6:350b53afb889 1893 } else { // in Thread
emilmont 6:350b53afb889 1894 return __sysMailFree(queue_id, mail, 0);
emilmont 6:350b53afb889 1895 }
emilmont 6:350b53afb889 1896 }
emilmont 6:350b53afb889 1897
emilmont 6:350b53afb889 1898 /// Put a mail to a queue
emilmont 6:350b53afb889 1899 osStatus osMailPut (osMailQId queue_id, void *mail) {
emilmont 6:350b53afb889 1900 if (queue_id == NULL) return osErrorParameter;
emilmont 6:350b53afb889 1901 if (mail == NULL) return osErrorValue;
emilmont 6:350b53afb889 1902 return osMessagePut(*((void **)queue_id), (uint32_t)mail, 0);
emilmont 6:350b53afb889 1903 }
emilmont 6:350b53afb889 1904
emilmont 6:350b53afb889 1905 /// Get a mail from a queue
emilmont 6:350b53afb889 1906 os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec) {
emilmont 6:350b53afb889 1907 osEvent ret;
emilmont 6:350b53afb889 1908
emilmont 6:350b53afb889 1909 if (queue_id == NULL) {
emilmont 6:350b53afb889 1910 ret.status = osErrorParameter;
emilmont 6:350b53afb889 1911 return ret;
emilmont 6:350b53afb889 1912 }
emilmont 6:350b53afb889 1913
emilmont 6:350b53afb889 1914 ret = osMessageGet(*((void **)queue_id), millisec);
emilmont 6:350b53afb889 1915 if (ret.status == osEventMessage) ret.status = osEventMail;
emilmont 6:350b53afb889 1916
emilmont 6:350b53afb889 1917 return ret;
emilmont 6:350b53afb889 1918 }